Interactions overhaul

Mostly about getting interactions free from the concert.

* `rocon_interactions` de-concertified and moved to `rocon_tools`
* updates from the `rocon_utilities` fallout
* `concert_info` now de-concertified and moved to `rocon_tools/rocon_master_info`.

Brought to you by https://github.com/robotics-in-concert/rocon_concert/issues/188