Adding bin_manager/person_avoid

Adding copied files from gt-ros-pkg/cpl before major
editing. Files not linked yet
Extracted ARTagManager and created generic interface

Removed much of the hacky implementation (near human) and
replaced functionality with more generic methods of interaction.
Has test cases in main!
Bin motion planning separated.

We have separated grasp goal generation, AR tag management,
and motion planning from each other so that they can be better
interchanged. Test cases added for all.