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added BOM to libsim and shared library
Refactored simulator, set some stuff up to work with multiple robots.
Including common directory in commit
Added shared memory setup code to the create_robot function. Need to write the cleanup code still. Exec call is failing but wasn't succeeding before code change either.
added robot shared memory id to simulator structure
update to robot shared header
added some structs to the common header file
Updated makefile to compile binaries for simulator.