[Refactor] Re-organize launchfiles for a cleaner stack

[JCarosella]

Currently launchfiles and packages really intertwined together. I propose modifying the launchfiles and packages to a better organization:

• Noah_gazebo package:
  • Have a master launchfile that spawns the world and robot, rviz, robot_state_publisher, navigation stack and wayposes publisher
  • Launchfile to spawn the world and robot
  • Launchfile to spawn the robot and robot description param
• Noah RViz: Contains a launchfile just for RViz and configs for the three use cases (navigation with map, without a map and slam)
• Noah_2dnav:
  • A master launchfile that covers the three scenarios: navigation with map, without map and slam
  • Launchfile for move_base
  • Launchfile for amcl
  • Contains the the move base and amcl configs
• Noah_rtabmap: Contains a launchfile to launch the nodes to perform SLAM
• Noah control utils package:
  • Launchfile to teleoperate noah with the keyboard
  • Launchfile to a helper node that publishes wayposes for the "move_base_sequence" node
• Noah description, mostly unchanged, contains the robot description