Integrate with `phobos_sw`

[duncanrhamill]

The simulation should be linked into SUSF-Robotics-and-Software/phobos_sw so that the real control software can run inside the simulated world, the counterpart to this is SUSF-Robotics-and-Software/phobos_sw#10.

The A number of things need to be done before we can do this though:

• [ ] The software itself must migrate to the new architecture SUSF-Robotics-and-Software/phobos_sw#8
• [ ] A python front end for the network library should be written SUSF-Robotics-and-Software/phobos_sw#9
• [ ] A new controller must be written for the rover that can accept motor demands from the software and send back images etc.

This new controller should be able to:

• Set gimbal position and drive speed demanded by loco_client
• Acquire and return images to cam_client on request
• Produce IMU data and return it to imu_client at a specific frequency

Things that could also be done:

• Send rover position and attitude back to some client so we can judge the performance of the loc module
• Receive terrain map data from nav for visualisation within the sim (is this possible?)

[duncanrhamill]

Drawing on the sim world is possible using supervisors and Indexed*Set objects, which gives us a lot of possibilities for visualising things

[duncanrhamill]

The controller should probably be async so we can respond to items immediately, one of the issues we're getting rov_exec side is lots of resource temporarily unavailable warnings, which I think has to do with the control loops and the zmq send/recv timeouts not being correct

[Thamizh34]

how to import into webots plss help me