Feature: refactor and test team comm

[texhnolyze]

Proposed changes

Major refactoring of team communication including the following:

• split of conversion State <-> Protobuf <-> TeamData into own converters
• extract server/connection setup
• introduce full typing
• unit tests of the conversion with pytest and syrupy
• a lot of bugfixes (concerning both logic, as well as ros2 issues)
• fixing of scripts for testing
• move to soccer 3d vision RobotArray msgs on the /robots_relative topic, as we never publish ObstacleRelativeArray

Related issues

• Partly fixes: https://github.com/bit-bots/humanoid_league_misc/issues/125

Necessary checks

• [x] Update package version
• [x] Run colcon build
• [ ] Write documentation
• [x] Create issues for future work
• [x] Test on your machine
• [x] Test on the robot
• [x] Put the PR on our Project board

[texhnolyze]

I'm still doing some testing and there are also still @TODOs in the code, but as this is a big PR I think it makes sense, that you already have a look over the general stuff. For most of the TODOs I could also use your feedback.

[Flova]

But isn't the target configurable and thus dynamic? Or what do you mean

But semantically it should still be the map frame. Maybe prefixed by a robot name or something like that. tf_transform sounds very generic and not like a function that only transforms into the map frame.