[FEATURE]: Replace py_trees with BehaviorTree.Cpp

[evan-palmer]

Feature Type

Changing existing functionality in Angler

Problem Description

I am not fully convinced that this needs to happen because I do like py_trees quite a bit, although the industry seems to be moving towards the use of BehaviorTree.Cpp. This does look like a pretty nice framework though, and py_trees seems to be losing support.

Feature Description

Replace the py_trees behavior tree implementation with BehaviorTree.Cpp

Alternative Solutions

No response

Additional Context

No response