Type of mission perturbations

[darkobozhinoski]

To run the experiment, we introduce 3 perturbations during mission execution:

• For each perturbation, we select [Type of perturbation, level of perturbation]

Levels of perturbation per type:
- Cluttered environment = {low, medium, high} - inject a set of obstacles that are not part of the initial map. (already discussed in a different issue. Modified version compared to the version we had for our submission last year )
- Increase in power consumption = {10%, 20%, 30%} - (already predefined, same as last year)
- Component failure (laser_error) (NEW)

We introduce the contingencies at a specific time during the mission execution.

• E.g. after the robot passes approximately ⅓ of the total length of the path

More info can be found here: https://docs.google.com/document/d/1pGxXg7ierV7L0mMmBsZvgysEYl14Xm1b_GXzoPDJK7g/edit#bookmark=id.l3f3e6f9ynl5

[marioney]

I guess we need to define this with @ipa-hsd as he's creating the scripts for that