Major Refactor

[callmecampos]

• Clean up file structure
• Accurate README.md
• Branch cleanup & renaming main branch to main
• Merge Mark's RPC code
• Integrate Hydra.cc (helpful for undergrads!)
  • Better define experiments & relevant parameters (inside Hydra config folder README)
  • Defining relationship of formation control relation, configurations pointing to functions/implementations @jasonxzhou
• Cfg / command line based visualization on off flag. See this
• Delete unused code, like this
• make agent configurable in solution file or velo_controlled_agent (will happen when debugging formation control)
• add example task with 3 agents for the visualizer (one agent moves out of range), that can change the type of robot and work with other changes.
• agent class for heterogenous agents or different options (test algorithms with different agent)
• delete unused branches
• re-label as initial commit when done with above
• move solutions out of velo-agent and into components/solution folder.
• move scenarios out of 6ticsh and into components/scenarios folder.
• have single configs/settings file
• convert to logger. No printing