Detecting and visualizing obstacles in 2D

[Vuwij]

[Vuwij]

Tips

Add draw estimated detection in the game_engine_2d_scene file, create list of obstacle_pose in the robotstate message and build it

https://github.com/utra-robosoccer/soccerbot/blob/7b93ac91104d07a2397b4f6d7a40ae9565a19429/soccer_msgs/msg/RobotState.msg

Add obstacle_pose here as well

https://github.com/utra-robosoccer/soccerbot/blob/435278dbd135f0f8cc2596e92a2eed7dd3992bb4/soccer_strategy/src/soccer_strategy/robot.py

Extend robot observe_ball to robot observe_robots

https://github.com/utra-robosoccer/soccerbot/blob/435278dbd135f0f8cc2596e92a2eed7dd3992bb4/soccer_strategy/src/soccer_strategy/robot_controlled_2d.py#L60-L74

Based on vision cone here

https://github.com/utra-robosoccer/soccerbot/blob/435278dbd135f0f8cc2596e92a2eed7dd3992bb4/soccer_strategy/src/soccer_strategy/game_engine_2d_scene.py#L120-L129

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