Separating RBL Controller from ROS

[afxalz]

• The main idea is to refactor the RBL controller and separate the pkg into to parts
• ROS wrapper (ROS C++)
• RBL controller (pure C++)
• The wrapper will use the build and runtime functionality provided by ROS to make it easy to gather sensor info and use the output of RBL to control the motion
• The RBL library will be ROS-free so that it maybe integrated with other APIs in the future, including ROS2 and RL-based sim
• Use the refactor branch and its children for this work