Merging Carla and new Behavior Trees/Planning to Master

[rodrigoqueiroz]

• Vehicle Planner had some reorganization and adjusted Conditions and TrafficState to have better performance and better match the theoretical model from paper.
• Cleaning up and reorganizing many unused or outdates conditions.
• A new Carla integration was added as an experiment. Can only be used in co-simulation for visualization. By default, it is turned off.
• A new Behavior Tree visualization (string or image inside log) can now be used to replace py_tree tools. It adds a new dependency: py_dot
• Adapting the standard Behavior Trees and Scenarios to match new Conditions and parsing rules. They are inside scenarios/coretest_scenarios