Add localization interface and cancelable navigation methods

[sktometometo]

Based on pull requests below.

• Add graph download/upload/clear methods #30
• Dataclass for storing command IDs #48

This PR introduces features below.

• Update argument of _set_localization_waypoint() from *arg to waypoint_id
  • Update referencing line to thie method
• Add localization methods for users. ( set_localization_fiducial() and set_localization_waypoint() )
• Add cancelable and more atomic navigate_to interface
  • For internal, _start_navigate_to() and _cancel_navigate_to()
  • For user, start_navigation() and cancel_navigation()
• Add _last_navigate_to_command value to indicate navigate_to is running or not
  • Use this for _is_moving update

Checked with a robot by

from spot_wrapper.wrapper import SpotWrapper
import threading
import logging
import time

logging.basicConfig(level=logging.INFO)
logger = logging.getLogger()

wrapper = SpotWrapper(username='hoge', password='fuga', hostname='192.168.50.3', robot_name='myspot', logger=logger)
wrapper.claim()

# Manually upload, localize and start navigation
wrapper.upload_graph("path to graph")
wrapper.list_graph(None)
wrapper.set_localization_fiducial()
wrapper.start_navigate_to("waypoint A id")

# Start navigation and cancel it
wrapper.clear_graph()
wrapper.upload_graph("path to graph")
wrapper.set_localization_waypoint("waypoint A id")
thread = threading.Thread(
           target=lambda: wrapper.start_navigate_to("waypoint B id")
)
time.sleep(5.)
wrapper.cancel_navigate_to()

[sktometometo]

Checked with our robot.

[sktometometo]

Thanks for review! I will update the branch.

[sktometometo]

Rebase this branch to #48 to support RobotCommandData class.

[sktometometo]

Pause this PR until #44 is merged.