Namespace infrastructure plugins

[luca-della-vedova]

New feature implementation

Implemented feature

This PR is part of a two-repo PR together with rmf_demos to bring to rmf_demos the infrastructure adapters that were shown in the roscon_workshop example.
Specifically, right now the door / lift supervisors communicate directly with the simulated doors and lifts. However, real deployments would likely have an adapter that sits in-between.

Implementation description

This PR adds a namespace to simulated doors and lifts, now the lift / door adapter will listen to door_requests and publish door_states while the simulation plugins themselves will prepend a sim/ namespace to their topics.