added brne inter planner

[Atharva-05]

No description provided.

[voshch]

Can't build brnelib because

• The CMakeLists.txt is missing a find_package(catkin REQUIRED COMPONENTS). Fix by adding that anywhere above catkin_package.
• Some Armadillo functions are undefined, might be a version mismatch. Verify that the dependency is resolved correctly.
• Catch2 isn't a catkin dependency, but used in the CMakeLists.txt (but also not really needed for our environment, I overrode this using set(CMAKE_CROSSCOMPILING 1)). Fix this by adding the dependency or removing it from the CMakeLists.txt altogether.

[linhdoan8]

@Atharva-05 pls fix issues and conflicts

[voshch]

conflicts are fine, I'll fix them myself during the merge (caused by the arena-rosnav upstream restructuring)

[Atharva-05]

• Added find_package(catkin REQUIRED COMPONENTS)
• How to enforce a particular version dependency for armadillo?
• Removed catch2 from CMakelists