Ensure Privacy for Task Delivery to Active Robots

[steup]

Currently tasks are delivered in EXECUTION Phase to /task topic.
All robots may subscribe to this topic independent of activity
Delivery should be selective to only active robots
Solution:

• Switch to task passing using service between Core and Com
• Enforce Privacy using Solution of Issue Ensure Privacy for Task passing between Core and GUI #11
• Enable specific team namespaced robot_state and task topics

[marcomasa]

Please update :)
I implemented the checks for the robot targets, which are not working atm bc the target_robot array is empty

[steup]

More problems, which are not solved by service approach:

• Marker Array used to visualize arena state may be read by teams to get arena state and therefore task prematurely

Alternative Solution:

Check subscriptions to internal topics and show on GUI to find cheating teams