Prototype PRM support for future

Changes:

• Add OMPL PRM Algorithm support
• Add support to run RRT and PRM at the same time
  • When both have above 0.5 confidence (means have a solution)
  • Choose the one that produces a lower-cost path
• Added a rviz config
• Updated pipeline docker image

Bug Fixed:

• OAC GPS mod, wrong facing issue (drone head/yaw is uncontrolled)
• RRT Cost calculation error
• OAC Gaol arrival determination issue

Existing Issues:

• Observed random crashes. Segmentation fault. in fcl::OcTree<double>::nodeHasChildren(octomap::OcTreeNode const*) const () from /opt/ros/melodic/lib/libfcl.so.0.6

Suggest Minimum Tests:

+ [PASS] Pipeline compile test
+ [PASS] Existing dev environment compile test
+ [PASS] Regression test on RRT
+ [PASS with Issues] PRM
+ [PASS with Issues] PRM with RRT
+ [PASS] rviz config
+ [PASS] New OAC step rate reliablity