Either update CDCPD offline to work again or remove it

[dcolli23]

CDCPD offline should either be updated to work again (and it's geometric_shapes package dependency documented in the README) or removed (along with the dependency on the geometric_shapes package).

It seems like a really helpful tool for resimulating bag files offline, so I'd like to keep it around and update it but if it's just going to sit there and decay it should be removed along with the specification of CDCPD's build dependency on the geometric_shapes package.