Buildfarm and KinematicTree bug fixes

Fixes a buildfarm issue with ZeroMQ and also fixes a KinematicTree bug introduced in 5.1.1 (which would access out of bounds) when fixing another bug (of double ID=0).

Added support for dynamic problems and collision avoidance in optimisation problems

• Added support for dynamic shooting problems and a variety of associated solvers (iLQR, DDP, Box-DDP, Control-RRT, etc.)
• Added a variety of taskmaps including for discrete-time collision avoidance in optimisation problems

EXOTica 5.0 and first binary release

Major overhaul since 4.0 and first binary release via the ROS buildfarm to Kinetic and Melodic.