refactor: modernize roborts_base & roborts_decision to C++17

[SkyPhy]

roborts_base (18 files)

Bug Fixes

• Fix DLOG_ERROR mapped to DLOG(WARNING) instead of DLOG(ERROR) (log.h)
• Fix impossible null check: port_name_.c_str() == nullptr (serial_device.cpp)
• Fix baudrate array bounds mismatch: st_baud[8] vs std_rate[11] (serial_device.cpp)
• Fix non-portable sizeof(std_rate)/4 -> sizeof(std_rate)/sizeof(std_rate[0])
• Fix verison_client_ typo -> version_client_ (chassis.h/cpp, gimbal.h/cpp)

Build System

• Upgrade C++ standard from C++14 to C++17
• Bump cmake_minimum_required to 3.10
• Upgrade package.xml to format 2, remove unused rospy dependency

Modern C++ Updates

• Add constexpr conversion constants (mm<->m, decideg<->rad)
• Replace raw magic numbers with named constants
• Use std::make_shared instead of raw new (dispatch.h)
• Replace C-style (MemoryBlock*)0 with nullptr (memory_pool.h)
• Fix bool full_ = 0 -> false (circular_buffer.h)
• Add missing include (hardware_interface.h)
• Use const char* instead of char* (log.h GLogWrapper)
• Add signal handling and configurable loop rate (roborts_base_node.cpp)
• Expand config with loop_rate and module enable flags

roborts_decision (13 files)

Bug Fixes

• Fix FastLineIterator using robot_cell_x for both y coords (chase_behavior.h)
• Fix whirl_vel_.accel.linear.x initialized twice (escape_behavior.h)
• Fix uninitialized new_goal_ member (blackboard.h)
• Fix undefined behavior: patrol_count_ = ++patrol_count_ % n (patrol_behavior.h)

Thread Safety

• Add std::mutex protection for enemy_detected_, enemy_pose_ (blackboard.h)
• Add std::mutex protection for new_goal_, goal_ (blackboard.h)

Code Quality

• Replace raw new with std::make_unique (behavior_test.cpp)
• Replace std::cout with ROS_DEBUG logging (patrol_behavior.h)
• Upgrade package.xml to format 2