Fix / Clean up look at handling

[Flova]

Summary

Make SearchBall usable again and rename it to TrackBall. So we have a head mode that tries to track the ball no matter what. If we want to search the ball or track the ball is decided by the user / the behavior to be consistent with the rest of the behavior. Duplication between the FieldFeatures and SearchBall is removed. A few small bugs in the head mover are closed.

As no localization is performed during the demo behavior, we use the tracking head mode there, as it looks better and makes the demo a bit more dynamic. The normal behavior is also adapted to use the new tracking head mode instead of the action call during passes etc..

A generic LookAt action is added to the behavior and can be used to e.g. look a specific parts of the field.

Checklist

• Run colcon build
• Write documentation
• Test on your machine
• Test on the robot
• Create issues for future work
• Triage this PR and label it

[Copilot]

Pull Request Overview

This PR renames SEARCH_BALL to TRACK_BALL in the head behavior system and refactors the head movement implementation to track the last known ball position instead of searching for it. The change improves ball tracking behavior by making it more direct and removes duplicated code between different head modes.

• Renamed SEARCH_BALL head mode to TRACK_BALL throughout the codebase
• Refactored head mover to track ball position using filter data instead of search patterns
• Updated behavior files to use new tracking mode and removed outdated actions

Reviewed Changes

Copilot reviewed 9 out of 9 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
bitbots_msgs/msg/HeadMode.msg	Updated message definition to rename SEARCH_BALL to TRACK_BALL
bitbots_motion/bitbots_head_mover/src/move_head.cpp	Added ball position tracking, refactored head mode handling, and fixed parameter references
bitbots_motion/bitbots_head_mover/config/head_config.yml	Removed deprecated search_ball configuration parameters
bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py	Updated teleop to use new TRACK_BALL mode
bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/*.dsd	Updated behavior files to use TrackBall and LookAtFieldFeatures actions
bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py	Replaced LookAtBall and SearchBall with new LookAt and TrackBall actions
bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py	Updated type alias to use TRACK_BALL

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[jaagut]

We should also rename this in the key-binding printout