[Feature]: Behavior tree cleanup code in preparation for including intermediate map

[Johannes1098]

Feature Description

The code is sometimes inconsistent, some code fragments are from the project 3 years ago and is not necessary anymore. Also some function names are inconsistent and also incomprehensible (e.g. convert_to_ms. is it milliseconds or meter/second. nobody knows at first sight).

With the more readable code we can implement the intermediate map faster in the first january weeks as we know where and what to add.

Definition of Done

• The code should me more consistent.
• Old legacy code that isn't is removed.
• Add comments where needed.
• Function name

Testability

Test if car / simulation and especially the behavior tree acts like before. The behavior tree can be looked up with the rqt_py_trees RQT Plugin (check if same behaviors still exists)

Dependencies

No response