Task Allocation implementation on the simulation

[paulvazbad]

Implementation of a simplified auction task allocation package in the multi robot simulation that was developed by @AuroTB . The purposes of this PR are:

• Create and integrate the task allocation package
• Generate a working demo of a simple go to target location.
  More can be seen in: [Robot Coordination] Integrate simplified AUCTION algorithm into multi robot simulation #18

[paulvazbad]

NOT READY FOR REVIEW/MERGE

[paulvazbad]

Note to self:
Tried using scoped enums but vscode linter raised annoying error of "class or namespace must follow ::" even though it compiled correctly.

[AuroTB]

Update: Take into account, within the cost function:

• Distance
• Battery level
• Task type

[paulvazbad]

Update:
Task Allocation completed

TODO: http://wiki.ros.org/actionlib

• Define go_to action format and package where it should belong to
• Implement action server in robot_goal_provider(python)
• Implement action client in tas_allocation(c++)