Implement control sequence for the revised task 3 scenario

[LiamWellacott]

Implement enough of the controller module to follow the steps of the task.

• interface with navigation
• interface with NLP
• interface with manipulation
• interface with object detection
• interface with face recognition

[LiamWellacott]

The control sequence is done. I have placeholders for service requests to NLP, vision, and manipulation. See #77 which is a blocker to fully complete this without faking the interface between nlp and controller

[LiamWellacott]

the controller cannot be implemented any further without additional services being implemented