Make yaml, srdf files generic via search and replace

[cpr-fer]

This is essential for making moveit and nav2 work at the same time or with multi-robot setups without having to hard-code a lot

[cpr-fer]

The nav2 part still needs some work, other than that it looks like a good first step

[cpr-fer]

The Nav2 parts are now reverted back, see #55 for further development. The other parts work, so I'll merge after the check has completed