Repo Re-Org, More like ROS Package

- Reorganize repo so docker stuff is
  a folder within fast_rrt_ros ROS package
- Update filepaths in README
- Update `build_and_run_docker.bash`
  to use main folder as build context,
  but use Dockerfile inside docker folder
- Update filepaths in Dockerfile

docker/build_and_run_docker.bash

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# Linux X server setup
+XAUTH=/tmp/docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+# Build husky_image from Dockerfile in this directory
+docker build -t husky_image -f ./docker/Dockerfile .
+
+# Run husky_image with specified environment variables, volume mounting, and host networking
+docker run \
+    -it \
+    --env="DISPLAY=$DISPLAY" \
+    --env="LIBGL_ALWAYS_INDIRECT=$LIBGL_ALWAYS_INDIRECT" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --env="XAUTHORITY=$XAUTH" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --volume="$XAUTH:$XAUTH" \
+    --privileged \
+    --network=host \
+    husky_image \
+    bash