Simba msgs

Moved the URDFParser into the HAL library and made it its own cmake package. It should be standardized, but for now, it's used as-is in CarPlanner and SimBA. The custom protobufs used in SimBA have also been moved to PbMsgs. 
Can we format these .proto files according to the style guide before we add it to the repo? `{` on opening line, no extra spaces after the type and just a single space around the `=`. 

There's actually a guide for Protobufs: https://developers.google.com/protocol-buffers/docs/style (I acknowledge most of our stuff isn't well formatted yet :-)