Merge request fixes-after-alamillo

Minor bugs fixed discovered after Alamillo mission.

MQTT class changes: there is now an ‘on_connect’ function that subscribes to topics, subscriptions are no longer done from outside of the class. This function is also executed after a reconnection, re-subscribing to the topics. Also, now the ‘start’ is done directly inside the init, no need to call it externally. There is an 'on_disconnect' function.

Now 'node_id' is sent with topic wp_target to check that the waypoint reached is the expected one.

New algorithm tested and ready for next mission: ExpectedImprovement

GaussianProcess now updates with initial measurements in reset.

All legendarium instances now pull directly from pip.