Separate Analyze, Plan, Execute and KB interface

[Rezenders]

Right now, the Analyze, Plan and Execute steps are executed sequentially in the RosReasoner main loop. The KB is loaded into the class variables and only exists there.

The steps should run async in parallel as separate nodes, this would allow replacing any of the steps by simply switching the node that is running. It would be necessary to make sure the interfaces between the steps are the same.

It would also be necessary to separate the KB, I suggest having a separate node that contains the KB and is responsible for reading/writing it. This node needs to have interfaces to provide/receive information to/from other nodes about the KB.