Fixed Intersection handling, re-enabled unicorn intersection, fixed april tag detection

Description

Fixed intersection handling:

re-enabled unicorn intersection for indefinite navigation
fixed April Tag detector node message type mismatch problem
fixed April tag wiring
fixed LED_Detector_Node for detecting oncomming traffic
fixed LED_detector_node log message

Type of change

Please mark the relevant options with X:

[x] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[ ] This change is constrained only to one package, any interfaces to nodes from other packages are maintained
[x] This change is constrained only to packages in this repository, any interfaces to nodes from other repositories are maintained
[ ] This change required a documentation update
[ ] This change is only a documentation update
[ ] This change restructures the repository (at level higher than package level)
[ ] This change requires a change in the Duckiebook (if yes, please describe and, if possible, make a pull request for an edit in the book and link it here)

Tests

Please describe all tests ran and their outcome. It is highly recommended that you at least do the tests listed by default, even if you only changed the documentation.

[x] Made the Duckiebot move with keyboard control
[x] Visually checked the published camera stream
[x] Verified that the lane following demo works
[x] Verified that the indefinite navigation demo works

Style compliance

Please make sure that all your changes conform to the Duckietown (code style)[link] and code (documentation style)[link] guidelines:

[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I checked that this pull request is compliant with the Duckietown code style
[x] I checked that this pull request is compliant with the Duckietown code documentation style

Next steps

Please describe if you have any questions, comments, or doubts towards the Duckietown software guardians regarding implementation, code style, running tests, documentation, etc.

FOR THE REVIEWERS

IMPORTANT: DO NOT CHANGE THIS SECTION!

[ ] Functionality (is the change necessary and is it implemented in the most appropriate way): @liampaull or @afdaniele
[ ] Integration testing (verify the tests and run additional if necessary): @?
[ ] Code style compliance: @gibernas
[ ] Documentation compliance: @aleksandarpetrov

To the reviewers: If you deem necessary, request code edits, more tests, documentation update, or additional reviewing. Do not review your own code!

PR Template, last edit 23 Aug 2019

duckietown / dt-core