Offboard Comms - Githubissues

Variety of updates to offboard_comms and data_pub. Highlights: resolution of pressure sensor hangup issue, easily maintainable and configurable CLI for uploading to Arduinos, and uniform config file structure.

Pressure Arduino
- Updated MS5837 library to latest version from BlueRobotics.
- Modified MS5837 library to return success/error codes.
- Added timeout to prevent pressure sensor hangups.
- Refactored sketch to continue to print voltage despite pressure hangup.
- Removed unnecessary libraries for Servos and ESCs.
- Updated measurement of Arduino's true onboard voltage.
Thruster Arduino
- Remove unnecessary MS5837 library.
- Removed unnecessary headers.
CLI
- Developed new CLI for installing libraries, finding ports, compiling, and uploading to Arduinos that is easily maintainable and configurable.
- Removed bash scripts whose functionalities are now covered by the CLI.
- Added config files (one for each robot) to offboard_comms with Arduino configuration.
Data Pub
- Replaced old config files with just one file per robot containing DVL FTDI string and axes negation configuration.
- Refactored dvl_to_odom.py to use transforms3d instead of tf.transformations for compatibility with ROS 2.
- Refactored sensors.py to obtain FTDI string of pressure Arduino from offboard_comms.
- Refactored sensors.py to avoid unnecessary errors when starting to read over serial.
Other
- Added alias thruster-test to spin all thrusters.
- Updated GitHub Actions to use new CLI instead of arduino_upload.sh (now deleted).
- Updated offboard_comms and data_pub READMEs so they are up-to-date with the latest changes.
- Updated serial.launch to use new CLI to obtain port of thruster Arduino.
- Refactored copy_offset.sh to use rospack to find path to offboard_comms package dynamically instead of hardcoding it.
- Added provided voltage to warning message in thrusters.cpp when voltage is out of bounds.

Closes #518.

DukeRobotics / robosub-ros

Offboard Comms #524