feat(rai_node): execute mission as ros2 action

[boczekbartek]

Purpose

• This PR adds support for the execution of missions as ros2 actions.

Proposed Changes

• implement mission in rai_node as ros2 actions. Action server is /perform_task.
• refactor src/rai/rai/node.py
• add expanders in streamlit UI for mission messages
• slightly adjusted prompts

Issues

• Implement duplex communication between HMI and RAI Agents #169

Testing

Terminal 1

. ./setup_shell.sh
ros2 run rai_whoami rai_whoami_node --ros-args -p robot_description_package:="rosbot_xl_whoami"

Terminal 2
Run simulation:
https://github.com/RobotecAI/rai-rosbot-xl-demo/releases/tag/v0.1.0

Terminal 3

cd src/examples/rosbot-xl-demo
./run-nav.bash

Terminal 4

. ./setup_shell.sh
python examples/rosbot-xl-generic-node-demo.py

Terminal 5

. ./setup_shell.sh
streamlit run src/rai_hmi/rai_hmi/streamlit_hmi_node.py rosbot_xl_whoami

• User Streamlit Web UI to add tasks to husarion. For example:
• "spin 90 degrees to the right"

TODOs

• Only 1 mission is supported at once:
  
• Agent can respond in a template to easily parse to rai_interfaces/../Task.action
• Fix [WARN] [1725631842.744809111] [rai_node.action_server]: Goal state not set, assuming aborted. Goal ID: [143 141 99 196 101 201 72 161 176 90 69 28 3 219 125 208]
• Fix tool calling in src/rai/rai/node.py