RT controller and simplification

The implementation is split such that the Navigator component only generates the trajectory that will subsequently be executed by a RT controller (see: platform_controller/PlatformTrajectory)

Note:

Currently, this cannot be merged as it depends on some unmerged features in armarx::control (branch: new_mp_controller_aron__memory_and_component_plugin__whole_body_control)

data/armarx_navigation/controller_config/PlatformTrajectory/default.json

+{
+  "params": {
+    "pidPos": {
+      "Kp": 1,
+      "Ki": 0,
+      "Kd": 0
+    },
+    "pidOri": {
+      "Kp": 1,
+      "Ki": 0,
+      "Kd": 0
+    },
+    "limits": {
+      "linear": 300,
+      "angular": 0.2
+    }
+  },
+  "targets": {
+    "trajectory": {
+      "points": []
+    }
+  }
+}