[RSDK-3786] full-mod-new-close

[nicksanford]

Ticket

1. Make viamcartographer.New initialize 1.) a carto facade instance 2.) a background go routine which will call into the carto facade C code 3.) a sensor process go routine to add sensor data when the full mod feature flag is enabled
2. Make viamcartographer.Close terminate in the proper order the resources initialized by viamcartographer.New
3. Add algo config defaults & parsing logic (pre full mod this was a C++ code responsibility, now it is a go code responsibility)
4. Don't setup deprecated directory structure if full mod feature flag is enabled, as otherwise it always causes full mod carto to throw errors on initialization (as per the project requirements)
5. Change package structure to fix circular dependency issues which would otherwise be caused by making viam-cartographer dependent on the sensorprocess package.
6. Change Makefile's build target to compile the C++ code (if not already compiled) before compiling the go code. This is needed as now main.go needs to link in C code, which was not the case prior. W/o this change, it doesn't build.

[kim-mishra]

LGTM!