Moved all to be depricated code and files into an legacy folder; Comp…

[sixym3]

@maffettone This PR is for a complete rewrite of the code base. One option is to merge into a WIP branch and then merge into humble at the end. Let me know which approach you prefer.

For now, this PR only removes the old code. I can open a follow-up PR to add the current implementation once you confirm the preferred workflow.

[maffettone]

Since there are no current BLs depending on this code base, and the paper versions are tagged, I'm fine working directly in the humble branch.

It seems you've come at this with a sludge hammer, where a knife would be more appropriate.

• We should not trash demos. As discussed, and use them to clearly outline the architectural decisions without beamline or end effector specifics. I think Hello Moveit should remain and be expanded to have a Hello MTC, and/or a Hello MTC Orchestrator.
• The custom srdfs and robot configs for the UR3e application are also not legacy unless you are replacing those as well and have tested them with a UR3e and the configs at PDF.
• Containers should still be the primary product for portability and retain high value.
• Tank you for modifying the readme to reflect changes. Please make sure there is a detailing to point to legacy contents in the main.

(Reviewing from a phone, apologies for terseness or formatting issues)