New Task Planning Framework

[Brokemia]

Apparently ROS2 does not support SMACH, so we should research alternatives. This might come in the form of a not-related-to-ROS python package. It might be helpful to ask other teams what they use.

[Brokemia]

The current plan is to use async-await coroutines to make creating tasks require less boilerplate, while still retaining some of the existing benefits.
See https://github.com/DukeRobotics/robosub-ros/tree/coroutine-demo for the current status

[vedarshshah]

We've fully implemented a coroutine-based task planning system.