ROS Kinetic/Melodic clean-up

[JWhitleyWork]

This MR requires an accompanying update to the software instructions in https://github.com/f1tenth/f1tenth_doc.

DO NOT MERGE UNTIL ACCOMPANYING DOC UPDATE IS READY

This MR does the following:

• Replaces the racecar package with the f1tenth_racecar package
• Cleans up all launch files
• Removes unused launch and config files from the MIT racecar package
• Removes packages which are available from upstream sources (e.g. the ROS Build farm) and can be fulfilled with a tool like rosdep
• Modernizes the existing packages (e.g. REP-149 compliance, adds missing install directives, adds missing dependencies, etc.)
• Significantly reduces the complie time, especially on resource-constrained systems
• Adds an argument nx_compute to teleop.launch to handle differences in joystick axis mapping on Jetson Xavier NX

The following set of commands will install all necessary dependencies and build the existing packages on either a ROS Kinetic or ROS Melodic system using this branch. These commands assume that you have created a ROS workspace using catkin_init_workspace and are currently in the base of that workspace.

$ sudo apt-get update && sudo apt-get install -y python-rosdep
$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src -i -y
$ catkin_make

After this, sourcing the workspace and running a launch file works as expected, assuming the sensors /dev/sensors/hokuyo, /dev/sensors/vesc, and /dev/input/joypad-f710 are available. Example:

$ source devel/setup.bash
$ roslaunch f1tenth_racecar teleop.launch

If using an NVIDIA Jetson Xavier NX, just add the following argument:

$ roslaunch f1tenth_racecar teleop.launch nx_compute:=true

[hzheng40]

Some files related to known_map_navigation could probably be deprecated.
Further testing on actual hardware will be scheduled on Penn's side. @JohannesBetz