Gets state as home if isar restarts

[Eddasol]

Describe the bug
When isar starts the state is home. We don't really know if that is the case and this can potentially cause bugs. Eg if isar restarts while awaitNextMission the robot will assume home when standing in the middle of the plant with no missions

To Reproduce
Steps to reproduce the behavior:

Expected behavior
Should not assume home if not sure.

Screenshots

[andchiind]

I think we can safely put the robot in intervention_needed upon starting ISAR. Then we will be notified that ISAR has crashed, and in this case we anyways need to verify that the robot is home.

[tsundvoll]

From planning: Better to start in await_next_mission state. Then eventually it will try to go home. Or if that fails, then it would go to intervention_needed eventually.

[Eddasol]

Decided fix:

In unknown state (which is the initial state) ISAR will rely on robotstatus from the robot package to decide what it should do. The possible next states are Home (if robotStatus.Home), AwaitNextMission (if robotStatus.Available) or Stopping (if RobotStatus.Busy). Unavailable states (offline, blockedProtectiveStop) will be as before.

Stopping state is to ensure that there are no lingering missions that isar doesn't know about

As busy isn't used right now this change will include handling of robotstate.Busy from robot package to isar and implementation of robotstatus.busy in the robot packages

[Eddasol]

#948
Partial fix. Still needs to handle cases where mission is ongoing

[github-actions]

This issue has been automatically marked as stale due to inactivity.

[tsundvoll]

1. Have the robot home, on the docking
2. Restart the pod, see that it is correct (home)

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3. Have the robot outside the dock
4. Restart the pod, see that the state is also correct

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5. When the robot is running a mission
6. Restart the pod, see that the state is correct (stop the ongoing mission and go home)