Improve Usability

[Sharwin24]

A collection of TODOs regarding the usability of the this repo.

Documentation/Usage Edits

• Instructions for setting up Docker on new computer
• Instructions for how to run build script and where to run from
  • Both in and out of Docker

Code Edits

• Implement failure reasons and success metrics for more info when package is used
• Implement Logging within pfield_library if not using ROS
• Build an abstract demo ROS package that is easy to add new demos
  • Each demo consists of their own obstacles, a start pose, goal pose, a robot URDF + plugin, and a empty service to run the PlanPath service with a custom request