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/third_party/eigen/Eigen/Jacobi

@@ -0,0 +1,33 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_JACOBI_MODULE_H
+#define EIGEN_JACOBI_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+/** \defgroup Jacobi_Module Jacobi module
+ * This module provides Jacobi and Givens rotations.
+ *
+ * \code
+ * #include <Eigen/Jacobi>
+ * \endcode
+ *
+ * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
+ *  - MatrixBase::applyOnTheLeft()
+ *  - MatrixBase::applyOnTheRight().
+ */
+
+// IWYU pragma: begin_exports
+#include "src/Jacobi/Jacobi.h"
+// IWYU pragma: end_exports
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif  // EIGEN_JACOBI_MODULE_H