Clean up project structure and documentation

[LiamWellacott]

The main folder is getting busy and will be difficult to understand for new eyes, I suggest changing to the following structure and adding some documentation in the readme to explain what is what:

• docker (launch first to ensure environment/dependencies are set up)
• simulation (everything that is not part of the software architecture, world files, object models, fake_rsbb, making it separate will make porting to real cleaner)
  • gaan_simulation
  • gaan_fake_rsbb
• GAAN (folder containing the skill packages, and starting launch file)
  • gaan-msgs (all msgs and services for GAAN)
  • controller (the entry point to the system, the launch file(s) to start our solution, solution specific resources like maps, other configuration, need a better name)
  • navigation
  • manipulation
  • nlp
  • vision
  • face_rec

[LiamWellacott]

TODO

• Check that you can launch the scenario (hello_tiago restricted_task_3.launch, then initiate once the arm is tucked with fake_rsbb restricted_task_3.launch)
• Modify the nav configuration automatically at docker image creation so you don't have to edit configuration files
• Add whatever is needed into start.launch in the controller so that NLP, Manipulation, face_rec, etc. are all launched
• (optional, wont do) make the controller look up in order to attempt facial recognition when in the receive instruction state
• use NLP services in the controller to receive the command to go to the table
• (services unimplemented and will be left out) use DOPE services in the controller to get a pose estimation and grasp(?) pose
• use manipulation services in the controller to pick up object and place it/hand over at the right time (stubbed out because bad things happen when it trys to grab things)
• update the readme so that it talks about using docker rather than local set up