[TASK] Operation Mode Manager

[jorgenfj]

Description of task

Create a node that manages the current operation mode of the AUV. Currently the joystick interface is the source that determines the operation mode of the AUV. The goal of this node is to have a centralized node that governs the current operation mode of the AUV.

Suggested Workflow

No response

Specifications

• Requests to set the operation mode should be made through service calls with the operation msg service type
• Operation Mode Manager should inform all relevant parties about the current operation mode when a change occurs over a topic using both reliability: reliable and durability: transient local.
• Mode manager node can for now just publish the mode as a string. The string->operation_mode refactor can be implemented in a future issue

Contacts

No response

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)