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. 
Are we sure we want these to be `required` options? Also, why does this belong in HAL instead of still in simba? Does it correspond with some URDF stuff?