Prior to this commit we didn't have the correct protocol files due to a lack of differentiation between senders and receivers. This commit adds the correct protocol files and updates the controller to use the correct functions to do control and update chassis.

Prior to this commit the gem controller functionality was not implemented. This commit adds some functioanlity.

Prior to this commit there were no values for the canbus configuration file. This commit adds those values.

Prior to this commit the gem configs were just placeholders. This commit adds the correct values for the GEM configs.

Perception: Changed lane assignment logic: Used closest point for lateral distance; Removed CompensateLaneObjects

Perception: added lane_map and lane_objects image into test folder; fixed code issues in async fusion.