Documentation, reorganization, and general cleanup

[IshanDutta11]

• Added new README architecture which explains how to use each subsystem and includes visuals and demos.
• Added working docker and .devcontainer setup for ROS2 Humble ubuntu 22.04
• Reorganized various files including description package files and arm controller management as well as made any necessary launch file, file path, and config file adjustments to reflect changes
• Random cleanup to allow for symlink install to work

[neilchibber]

All looks good! Thanks for your service soldier.

One thing, I see that the DockerFile for Jetson, Base Station + Developer are the same. I think that this is chill w/ Base Station + Developer, but since Jetson isn't on x84/64 cpu I'm not sure if it will build properly(will test once im back on campus). I also think the docker needs to include some dependencies that are required to access the Jetsons GPU (at least on the reading ive done on jetson). But ofc best way to see is just try it but im not on campus... so i'll see tuesday.

fire readme's tho

[IshanDutta11]

The docker setup for the jetson and base station are future work. They are just placeholders for now, and someone else on the team can clean them up.