ball placement with ROS2 actions

[kasohrab]

Description

Title. Supersedes #1904.

Associated Issue

Resolves #1559

Design Documents

TODO: attach that diagram kevin made.

Steps to test

Test Case 1

1. Step 1
2. Step 2
3. Step 3

Expected result: ???

(Optional) Sub-issues (for drafts)

Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.

• [x] Set up action server and client somehow
• [x] make sure gameplay is "turned off temporarily"
• [x] plan in action server

[kfu02]

Proof of concept done. Screen recording

This does not handle many edge cases, including:

• when the ball is on the wall and must be dragged backwards
• when the pass is not successful and the receiver must go grab the ball to center it
• when our robots are in the way of proper ball placement (notice my choice to pick the play that moves them all out of the way first)

However, as a proof of concept it shows:

• ball placement is possible with our current planners
• passing may be easier with an agent model
• gameplay would definitely be better with access to the new is_dones from planners.
• (I also modified planner node to handle singular RobotIntents correctly in this PR, instead of expecting them to be sent every tick from gameplay.)

Next step is to figure out how we should change planning/gameplay to account for this new info.