Add behavior message mappers

[ersaraujo]

Overview 👀

This PR add message mappers to behavior service and a generic use in behavior_processor

• Add robotId message class
• Add Output and Behavior message class
• Add Motion (GoToPoint) message class

Notes 🗒️

The following implementations are pending:

1. Other motion types messages [Feature Request] Message class for other Motion types in behavior service #65
2. Planning message [Feature Request] Message class for planning in behavior service #64

[ersaraujo]

Houve uma modificação da interface (#75), puxar a main.

[MatheusPaixaoG]

Acho que seria interessante manter os construtores nos arquivos .cpp, mas funciona manter no .h também