Cleanups and fixes

[koonpeng]

🦟 Bug fix

Summary

• Build only the debug config.
  • The build system is a mess with a mix of colcon, cmake, premake and nvidia internal tools.
• Use ign logging tools over std::cout and std::cerr
• Clean up includes order and bad use of "foo.h" style for external includes.
• Add cli parsing

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.