Create "judge" node for simulation

[oswinso]

Right now our simulation is very "qualitative". It would be nice to have some sort of more quantitative / objective metrics of success. One thing we could do is to have some node that acts as a "judge" or "referee" and can detect whether the robot has touched a line or a barrel, and potentially even calculate a "true distance" between the robot and the waypoints / goal.

Probably need a design document for this.

AC: A "judge" node that determines whether the robot has touched any lines / barrels or not, and potentially implement this as an actionlib server.