[Enhancement] Create a thread-safe handler for obstacle data

[Kai-Shafe]

Why Is This Enhancement Needed?

To keep the codebase performant, we want to pass references to obstacles instead of copying obstacle data into different areas of the codebase (research the active object design pattern). We run detections from images coming from the camera using multiple threads, so this also needs to receive and update objects in a thread safe manner.

Proposed Solution

See src/handlers/TagDetectionHandler.h and src/handlers/TagDetectionHandler.cpp for an example implementation.

Additional Context

No response