Remove Boost dependency

[Luca Della Vedova]

Feature request

Description

The whole rmf codebase has almost no boost dependency except for this package. We should try to remove any boost dependency since it's a bulky library and is only very sparingly used.

Implementation considerations

Most of the functionality implemented in boost functions in this package is inside thumbnail_generator and crowd_simulator and has actually been migrated to the standard library, such as filesystem, dynamic_pointer_cast and exceptions.
The only non-immediate migration will be from boost::program_options, but there seem to be alternatives (such as the C style getopt()).