cr17_nodes hlsm

High level state machine for the robot

This will use the tf_tree. It will listen to the stuck topic, which is a boolean message. It will listen to the robot_pose topic for a geometery_msgs/pose message. It will listen to the obj_path topic for a Path message. It will publish to the path topic a Path message. It will publish to the scoop_commands topic a yet to be determined custom message.