Clean Up and consolidation of core

[michaelpantic]

A place to brainstorm and think about how to clean this up a bit:

• Clean up messy code & remove unused things
• Minimize the core libraries
• Better modularity (especially w.r.t to dependencies!)

To be filled out in more detail soon.

In detail, we have the following ToDos (please add more)

• [ ] #63 Add a License and Collaborator list.
• [ ] #51 Remove dependencies for cgal_conversions.
• [ ] #49 Introduce proper logging instead of all the std::cout.
• [ ] #79 Proper config handling with ConfigProvider.
• [ ] Consolidate example meshes that are all over the place in cpt_utils, example_meshes, cpt_selective_icp, ...

[michaelpantic]

Ideas, current shortcomings etc very welcome

[hermannsblum]

51 Would be a way to remove dependencies and consolidate the package structure a bit better.

[hermannsblum]

Another thing to look at: We have a lot of rviz configs in all the different packages, I'm sure there is a way to better find a generic solution like maplab does it?