Adjust Team Communication to new rules

[texhnolyze]

Summary

According to the new rules, we are maximally allowed to send 12000 messages per Team, but are currently running the team communication with 10Hz per robot.
This means we send 12000 messages per robot playing per game (20min).

So we will need to reduce the number of messages we send and then see how that affects behavior and adjust it accordingly.

There is also a maximum size of messages, which we have to check our protobuf message against.

[jaagut]

Easy means of reducing the message count is reducing the rate.
Other than that, we can be a bit smarter and only send messages when the game is in gamestate playing and the current robot is not penalized and is "considering" some actions. For example, a goalie that just stands still for minutes at a time does not need to constantly send messages.

[jaagut]

This is being addressed by #805