Test utils / CI fix

[joshuamorton]

This PR:

• runs pytests in boxed threads, which ensures that separate tests won't interfere with each other through global roscore processes
• fixes issue where timeout errors were being swallowed by the generator in wait_for_message never evaluating the yielded object.
• fixes issue where functools.partial was being used for a callback that only had one arg
• creates boiler plate test for controller node

Other minor things this fixes:

• use raw_input on inputer node. We had moved to input when we thought py3 was a possibility.
• ensures that we're sourcing the correct files in ci_scripts/* by not using relative paths