[Perception] Conditional switching between normal autonomy and recovery methods

[gxywang]

Implement logic for switching between normal behavior and recovery based on set of conditions

Steps:

• Determine switching conditions
• Draw logic architecture for the two branches
• Determine where to implement switch
• Connect to normal autonomy branch
• Connect to recovery methods (AprilTags, Teleop)
• Test

Helpful Resources:

• Look into Nav2 recoveries implementation