Config string refactor

[Zolkin1]

A few big refactors:

• Removed config strings entirely. We now just dump the yaml into the ros string so it can be parsed cleaner with available yaml files.
• Removed the "device" argument in the launch and in the config yamls
• Made the depth sensor/lidar config in the config yaml rather than a seperate yaml
• Made the config yamls composable to more easily merge them together.
• Bag defaults to false.