Clean-Up Multiscale Branch

[methylDragon]

PR Description

This PR cleans up the multiscale branch and proposes a merge into master, since MGM and MGM multiscale encompass the functionalities covered by the current master HEAD.

Changes Introduced

Cleanup

• Cleans up the README
• Cleans up the directories and isolates builds to a build directory
  • With an updated CMakeLists. New calls and compilation instructions are added to the README.

Configuration and Library Packaging

• Makes MGM an includable library
• Change the smartparameter preprocessor directive to allow for editing of the set smart parameter value
• Makes all smart parameter calls refer to the same variable
  • This is so anyone who needs to reconfigure them programmatically can do so
  • This is done by adding a new smartparameter.cc source file and making use of extern

Introduce ROS compatibility

• Also edits the CMakeLists for conditional ROS compatibility