Fix emergency stop

[mxgrey]

This PR fixes the implementation of the emergency stop. Previously there was a risk that a robot which is supposed to drive backwards will refuse to do so if there another robot in front of itself, even though there is no robot behind it in the direction that it is actually supposed to travel.

As a bonus I made some of the logging output a bit more informative and removed the time-based hold behavior which is no longer needed.

[codecov]

Codecov Report

Merging #82 (a3934aa) into main (d9c2a90) will not change coverage.
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@@            Coverage Diff             @@
##             main     #82       +/-   ##
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  Coverage    0.00%   0.00%               
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  Files        1368      76     -1292     
  Lines      134666    6787   -127879     
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+ Misses     134666    6787   -127879     

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Impacted Files	Coverage Δ
...m_ignition_plugins/src/LightTuning/LightTuning.cpp
...ion/rmf_building_sim_ignition_plugins/src/lift.cpp
...on_plugins/src/toggle_charging/toggle_charging.cpp
...ion/rmf_building_sim_ignition_plugins/src/door.cpp
...lation/rmf_building_sim_common/src/door_common.cpp
..._sim_common/include/rmf_robot_sim_common/utils.hpp
...lding_sim_ignition_plugins/src/crowd_simulator.cpp
...tion/rmf_robot_sim_gazebo_plugins/src/readonly.cpp
...lation/rmf_building_sim_common/src/door_common.cpp
...robot_sim_gazebo_plugins/src/TeleportDispenser.cpp
... and 1418 more