[ROS2] MoveAwayFromMouth Actions

[amalnanavati]

Currently, when moving away from the mouth, the web app calls the vanilla MoveAbovePlate and MoveToRestingPosition. However, the trouble with this is:

1. When near the user's mouth, the robot is in collision with the expanded wheelchair_collision object. Therefore, no vanilla action will work. We need an action that will allow collisions with the wheelchair_collision object, initially (e.g., as the robot moves back to the staging location) and then disallows collisions as it either moves above the plate or moves to the resting position.
2. Using vanilla actions prevents us from doing any other customizations of robot motion when moving away from the mouth (e.g., lowering the speed).

Note that currently MoveToMouth #42 permanently allows collisions with the wheelchair_collision object to account for this, which is dangerous. Therefore, addressing this is a top priority.