Implement duplex communication between HMI and RAI Agents

[boczekbartek]

Is your feature request related to a problem? Please describe. Currently, communication of the task between RAI and HMI has some limitations:

1. it goes in 1 direction (HMI -> RAI)
2. is based on the ros2 topic -> no task start ack
3. The robot can't return task status, ask for task details or

Describe the solution you'd like Implementation would solve the issues above by implementing 2 ros2 actions:

1. Task action:
   • HMI submits tasks to the robotic agent (~RAI agent) using ros2 action.
   • RAI agent accepts the task, frequently sends task feedback, and share the result at the end
2. Task feedback action: (probably better name needed)
   • RAI agent while executing the task can ask the HMI agent for more information about the task using another ros2 action

Describe alternatives you've considered

• ros2 service, but decided to use actions since we need feedback and the response can take long. For tasks - execution might be long. For feedback - the agent might be in the middle of a conversation.

Additional context

• HMI part is started by @maciejmajek in https://github.com/RobotecAI/rai/pull/143 and described in https://github.com/RobotecAI/rai/issues/142
• design heavily contributed by @maciejmajek

Status

• [x] https://github.com/RobotecAI/rai/pull/176
• [ ] https://github.com/RobotecAI/rai/pull/208
• [ ] implement mission feedback
• [ ] https://github.com/RobotecAI/rai/pull/205