Support non-default build, install and log directory names

[Levi-Armstrong]

Currently for colcon the workspace build, install and log are hard coded where in catkin you could leverage different config to allow configuring these directory names. This was nice for keeping both a debug and release build/install to easily switch between the two and rebuild. It looks like colcon supports setting these directory names when calling colcon but not sure what is the best way to integrate this functionality.

[Levi-Armstrong]

Maybe the best option is to add support to parse a mixin file similar to how the catkin tools would parse its config.

# debug.yaml
build:
  build-base: build-debug
  install-base: install-debug
  merge-install: true
  cmake-args:
    - -DCMAKE_BUILD_TYPE=Debug
    - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

# release.yaml
build:
  build-base: build-release
  install-base: install-release
  merge-install: true
  cmake-args:
    - -DCMAKE_BUILD_TYPE=Release

colcon build --mixin debug
colcon build --mixin release