enable kobuki Windows build

[kejxu]

update yujin_ocs to enable the kobuki code base to build on Windows. 2 changes in this pr:

• use cmake variable to set c++ version so it's compiler-agnostic
• use find_package to detect yaml-cpp first, since only cmake config file is published for it on Windows

this port points to the melodic release branch because it currently only targets ROS1.melodic