Xmacro

* Fixed issue that basic xmacro depended on ROS2 : 1

* add feature `xmacro4urdf`.
* update banner info : contain `tool_name`.
* change max recursion level of <xmacro_block>: 5->100.
* update pre-define `visual_collision_with_mesh` in `common.sdf.xmacro`.

* fix some issues in math expression : support sin(),cos(), etc.

* fix <xmacro_define_block> without params

* improve exception message.
* support condition for <xmacro_block>.