Implement encoder interface for ros2_control

[AbBaSaMo]

• [ ] find the encoders
  • [ ] follow the ros2_control docs to implement an interface for the 2 motors
  • [ ] determine if 1 interface is needed per encoder or 1 shared is sufficient

Refer to the following docs on how to implement this https://control.ros.org/humble/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.html