Load and insert class and property assertions from a YAML file

[Sushant-Chavan]

The PR adds support to load custom assertions about instances of classes or properties between classes from a YAML file and insert them into an ontology using the ontology interface.

Changelog

• Updated the onotology_interface to support inserting class and property assertions.
• Validation is performed while inserting assertions to check if the classes, instances or properties exist in the ontology.
• Implemented a new script to load custom class and property assertions from a YAML file and use the ontology_interface to insert these assertions into an ontology.
• Added a sample assertions YAML file containing a few class and property assertions.
• Removed duplicated Furniture class declaration from the apartment_go_2019.owl ontology.
• Fixed capitalization of class names in the apartment_go_2019.owl ontology.

Closes #2
Related to #YY

Checklist:

• My code doesn't contain unnecessary comment blocks (e.g. unused code, templates of package.xml or CMakeLists.txt)
• I have updated the package.xml and CMakeLists.txt with the correct dependencies.
• I have updated the documentation accordingly.

[alex-mitrevski]

Hey @Sushant-Chavan, which branch did you branch off from? You're repeating some of the functionalities that I've already added in my WIP branch https://github.com/b-it-bots/mas_knowledge_base/tree/feature/ontology-to-kb-export, such as getting all class and property names

[Sushant-Chavan]

Hi @alex-mitrevski, I branched off from the master branch (since the develop is behind master) and didn't find these changes there. Should I merge your WIP branch into mine and remove the duplicate code?