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_remote/CMakeLists.txt

@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(invicta_remote)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  sensor_msgs
+  invicta_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp sensor_msgs invicta_msgs
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(invicta_remote_node
+  src/invicta_remote_node.cpp
+)
+
+target_link_libraries(invicta_remote_node
+  ${catkin_LIBRARIES}
+  -lpthread
+)
+
+install(TARGETS invicta_remote_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY launch config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)