Use a stronger source of randomness

[ChrisThrasher]

Description

rsl::rng() seeds a Mersenne twister to the full extent allowed by the <random> API so that we can ensure we're getting the highest quality randomness possible. Using this global random number generator also lets us remove a few member variables that existed for this same purpose.

std::random_shuffle has been deprecated and removed from the standard so I also replaced the remaining uses of that function with std::shuffle.

Checklist

• Required by CI: Code is auto formatted using clang-format

[tylerjw]

Looks good, will merge after CI runs.

[codecov]

Codecov Report

Base: 50.95% // Head: 50.95% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (b638161) compared to base (2dfdad0).
Patch coverage: 46.67% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1721      +/-   ##
==========================================
- Coverage   50.95%   50.95%   -0.00%     
==========================================
  Files         378      378              
  Lines       31643    31658      +15     
==========================================
+ Hits        16122    16128       +6     
- Misses      15521    15530       +9     

Impacted Files	Coverage Δ
moveit_ros/moveit_servo/src/servo_calcs.cpp	65.97% <46.67%> (-1.97%)	⬇️
moveit_ros/moveit_servo/src/pose_tracking.cpp	76.78% <0.00%> (-0.47%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	79.93% <0.00%> (+3.41%)	⬆️

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