Spring Clean (Part 1)

[jws-1]

• Remove lasr_speech package.
• Cleanup lasr_voice - there is currently a bug caused by not setting an entry in rosparam.
• Cleanup lasr_rasa.
• Drop aruco_ros submodule.
• Drop tf_module - we are now in noetic, which gets rid of our tf woes!
• Drop other unused legacy packages.
• Construct cv2_pcl package from common_math, and remove the latter.
• CATKIN_IGNORE legacy packages and tasks - we have created an archive branch so that these tasks can be run. At some point we should refactor them so that they run under the new codebase.
• Cleanup some of the vision skills (i.e. correct use of userdata!).
• Add 3D variant of YOLO service. This should reduce boiler plate code of the form: pcl -> img -> yolo -> masks -> centroids.
• Create marker helper package for visualising point estimates.

NOTE: This PR will break some existing functionality - particularly the coffee_shop and lift tasks, but may also affect the receptionist task too.

[m-barker]

Great work!