added preroll checks and publish check status

[TiaSinghania]

(stole format from patricks pr)

What type of PR is this? (check all applicable)

• [ ] Refactor
• [x] Feature
• [ ] Bug Fix
• [ ] Optimization
• [ ] Documentation Update

Description

Added additionally safety checks to autonsystem which will ensure messages are being received, RTK status is fixed, covariance is acceptable, and heading is pointing generally in the correct direction (within 180 degrees of where is should be)

QA Instructions, Screenshots, Recordings

The code still builds but hasn't been tested on the actual buggy.

[christianvluu]

Also add your PR comments, I have no idea what I'm supposed to be checking for without actually digging into the code.

[christianvluu]

Looks fine to me, haven't tested it myself so I'll defer to Jack for the approval.

[Jackack]

Might have to remove the RTK status check since I didn't realize that topic is not active in sim when I requested the check