Highly opinionated code cleanup - #6
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Implements an actual CI build in a Github workflow. Though it started out innocently enough, dependency resolution quickly got out of hand (*cough* Pangolin). This led to a wholesale conversion to `vcpkg` for standalone, non-ROS builds, both in and out of CI. README updated to match.
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This started as an effort to break out Setting and allow them to be set programmatically (rather than loaded from a file), then things got out of control.
Structurally, this is the same as upstream code but includes significant code cleanup: