Brennan Miller-Klugman authored Jun 14, 2023 and Eric Gallimore committed Jun 14, 2023

Significant restructuring.  Split into three packages: ros_acomms, ros_acomms_modeling (for things related to simulation and acoustic modeling), and ros_acomms_msgs (for common messages).  Also removed files that have been moved to the new ros_acomms_uuv project.  Other cleanup, removed unused features.  Fixed requirements.