Take into account robot_status when determining ISAR status

[andchiind]

Describe the improvement you would like to see
Currently if the robot reports it is busy but the ISAR state is IDLE, ISAR will still report that it is available. I don't think this is ideal.

How will this change existing functionality?
We will either limit what transitions are always available in IDLE, or we need to account for this using more states.

How will this improvement affect the current Threat Model?
N/A

[aeshub]

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