Real is sim, sim is real 😍

[MMarcus95]

This PR introduces a new hal structure that can be used for real robot and simulation. Introduces also several improvements and files relocation

• most of fastdds code is moved to transport_interface repo
• dls_hal repo is created to create a common interface for simulation and hardware
• startup file now needs
  run_servers: true
  run_supervisor: true
  load_model: true
  and you can use multiple startup files, but only one has to have the above options to on.
• added possibility to spawn process based on xenomai

Related PRs:

• Message updates for new hal information dls2_msgs#17
• fixed path to robot description pinocchio-gluecode#19
• Server path update dls2_ros2_interface#10
• Towards real=sim interface dls2#342