Walking-controller expanded with navigation features

Hello

I am opening this issue to illustrate the changes that I've made to the walking controller for enabling the communication with the navigation stack.
The main files impacted are the `Module` and `TrajectoryGenerator`

1) Two new parallel threads have been added: one streams the odometry information of the virtual unicycle taken from `m_FKSolver`, the other publishes the replanning trigger to the navigation stack (i.e. when to plan a new path).
2) The CoM and planned footsteps are being published on two separate ports for visualization purposes (Rviz) for the navigation stack.
3) New config parameters for the navigation side
4) Code flow has been changed to handle different types of configurations: manual, navigation with a 2D input path (x,y poses) - i.e. controller in personFollowing mode, navigation with a 3D input path (x, y, theta) - i.e. a different method is called from the footstep planner is called (changes [here](https://github.com/mebbaid/unicycle-footstep-planner) and [this is the relevant PR ](https://github.com/mebbaid/unicycle-footstep-planner/pull/1))
5) The code low is set by default to work in manual mode, so that the actual config files shouldn't be changed, ignoring thus all the navigation parameters

This issue is mainly for discussion, also because the code could be improved based on your needs and styles.