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. 
It corresponds directly to URDFParser classes. This was the tough thing when moving it all over; it didn't seem to fit, but it's so much more convenient. They're all required because you can't make a bullet object without every parameter filled.