Initial commit: extract M20 sim2real into ROS1 invicta project

Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only.

Packages:
- invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages
  (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs.
- invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX
  policy with per-gait models, auto RL entry after standup with readiness checks,
  safety loop, gait->model table; no protocol/network code.
- invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0),
  header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry
  1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state.
- invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes
  sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands.

Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint
state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam,
gait preconditions, error codes), telemetry push, and end-to-end switching of two
policy models with a real remote controller.

src/invicta_deploy/main.cpp

@@ -0,0 +1,27 @@
+/**
+ * @file main.cpp
+ * @brief invicta RL deploy 入口：ROS 回调跑在 main 线程，控制线程跑 200 Hz 状态机
+ */
+#include <ros/ros.h>
+
+#include <iostream>
+#include <memory>
+
+#include "quadruped_wheel/invicta_state_machine.hpp"
+
+using namespace types;
+
+MotionStateFeedback StateBase::msfb_ = MotionStateFeedback();
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "invicta_deploy");
+    std::cout << "Invicta State Machine Start Running" << std::endl;
+
+    std::shared_ptr<StateMachineBase> fsm = std::make_shared<invicta::InvictaStateMachine>();
+    fsm->Start();
+    fsm->Run();
+    fsm->Stop();
+
+    ros::shutdown();
+    return 0;
+}