321 split docker image structure

[geurto]

Description

Restructuring of repository to make it more modular and future-proof. Code and dependencies are split into separate Docker images, with a compose script to create configurations to run.

TO DO:

• port rcdt_franka
• port rcdt_realsense
• port rcdt_velodyne
• port rcdt_zed
• create rcdt_ouster
• create rcdt_tools
• create rcdt_nav
• distribute pyproject.toml dependencies to relevant containers (instead of all dependencies installed in all containers)
• expand compose script / create Python CLI tool to deal with configuration options
• parameter remaps (such as in nav2) based on namespaces set in compose.py script (if nav2 and panther/lynx --> set namespace_vehicle=panther/lynx)
• odom nodes for Panther/Lynx

Fixes: #321

Thins to discuss:

• Use of subprocess to obtain robot_description inside moveit container.

Testing

Explain how you tested your changes.

Documentation

• I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

[Jelmerdw]

I think this branch is not correctly rebased from main. It shows changes in many files you didn't do, like images that are removed in the docs folder and removal of the pyflow folder. Can you fix this, so that there is more overview of what you actually changed?