    ProcessConfig(
      proc_name="plannerd",
      pub_sub={
        "modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"],
        "carState": [], "controlsState": [], "liveParameters": [],
      },
      ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
      init_callback=get_car_params,
      should_recv_callback=None,
      tolerance=None,
 
</s> remove     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
 </s> add     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['controlsState'].steeringAngleDesiredDeg </s> remove     self.angle_steers_des = lat_plan.steeringAngleDeg - lat_plan.angleOffsetDeg
    steering_angle -= lat_plan.angleOffsetDeg
 </s> add     steering_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetAverageDeg

    desired_angle = math.degrees(VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))

    instant_offset = params.angleOffsetDeg - params.angleOffsetAverageDeg
    desired_angle += instant_offset  # Only add offset that originates from vehicle model errors </s> remove from cereal import car
 </s> add  </s> remove     return self.output_steer, float(self.angle_steers_des), lqr_log
 </s> add     return output_steer, 0, lqr_log </s> remove     lqr_log.output = self.output_steer
 </s> add     lqr_log.output = output_steer
      "carState": [], "controlsState": [],
    ProcessConfig(
      proc_name="plannerd",
      pub_sub={
        "modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"],
      "carState": [], "controlsState": [],
      },
      ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
      init_callback=get_car_params,
      should_recv_callback=None,
      tolerance=None,
keep keep keep keep replace keep keep keep keep keep
 LateralPlanner should only compute curvature (#20289)

* get curvature from planner

* no need to check active

* remove that

* remove self

* liveParams not needed

* cast

* fix test bug

* fixes

* fix ui.py

* fix radians

* update refs

* update refs

* bump cereal

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/test/process_replay/process_replay.py