Recheck parameters for better assignment

[MegaIng]

Summary

While #925 was merged, the review comments regarding parameter handling were deferred.

We need to go through and handle them. This includes, but is not limited to

• Adding some more parameters for currently hardcoded values
• Renaming some parameters to have better names
• Providing clearer descriptions for some parameters
• Making parameters relative to the field size where relevant
• Making sure all parameters are exposed in a yaml file
• Potentially: Making sure that all parameters are runtime changeable as ROS parameters
• Potentially: Creating a dynamic viewer that areas defined by the different parameters, independent of the effects on actual robots (showing e.g. the gradients)