Factorization of the launch files to have a shared launch file for armada, and separate launch files for simu and exp.

Suppression of Move up srv.

Harmonization of the topic names between cpp and Python implmentation.
Factorization of cable orientation publishers in Python.

Add of the traj_name as a launch arg.

Remove unused take off functions.
Fix initial position of formation when switching to armada control

Addition of a *use_cpp* launch arg in the sitl armada control launch file for choosing the armada controller implementation.
Cleaning of unused *mc_node*.

Enable transform of the payload odom to match EKF odom.
Addition of platform accel publisher

Definition of the full state class  in the file and suppression of unused fields.
Suppression of redundant function calls in the controller computations.

Use of mocap/odom instead of EKF/odom for the drones.
Creation of an integral saturation threshold.
Rewritting of the controller to include integral saturation.

Addition of the parameter descriptors.
Code factorization in function send_desired_force.
Commenting of armada_req variable.

Correction of the controller selection service call.

Use gnome-terminal instead of tmux by default in sitl_armada_control.launch.py.

Update of armada_control to use armada namespace