Implement Rosgraph_manipulator for MVP

[chcorbato]

Following specification in https://github.com/rosin-project/mros1_reasoner/issues/11

• [x] Implement MvpRconfiguration.action
• [x] Implement node Rosgraph_manipulator
  • [x] Implement action server
  • [x] Implement launch configuration
  • [x] retrieve move_base goal when it is reconfigured see #10

[chcorbato]

implemented in branch reconfiguration