[Autonomy System - Perception] Define obstacle detection process and handshake

[menson168]

• Define different levels of lidar-based obstacle detection
• Establish modes of detection
• Develop handshake between perception and manager module

[menson168]

We need to work together on how lidar obstacle detection can be smoothly integrated into our system. Define multiple levels of detection (multiple threshold values and consistency of the detection) and how the vehicle will react according to each level of detection.