RootRework: Standalone collision checker

[MoffKalast]

As discussed, we should make an attempt to make the collision checker into a standalone node, which can publish info to other nodes as well.

[JanLipovsek]

Input
-> laser_scan/point_cloud, robot_BB
Output
->Float x_dist, -x_dist, +rot, -rot
-> Bool move_x+, move_x-, rot+, rot-