Smart servo ros1 carousel code

[vexandmore]

Assignee Section

Description

• Added teensy code to control the smart servo based carousel
• Made CommsNode work in local mode
• Add science commands to comms node

Steps for Testing

These steps assume a test not on rover

1. Start roscode
2. run the CommsNode.py node with 'local' as an argument ie rosrun mcu_command CommsNode.py local
3. Plug in the teensy to usb port, with the smart servo on serial 5. Note a level shifter is needed.
4. Send over commands, eg rostopic pub /science_command std_msgs/String "data: 'next_test_tube'"

closes #578

The approval from all software team leads is necessary before merging.

Reviewer Section

Aside from local testing and the General Integration Test it is implied that static analysis should be included in the verification process.

• [ ] Local Test Performed Successfully
• [ ] General Integration Test Performed Successfully

For Pull Requests that do not include code changes, it is not required to perform the tests above.

[RealWilliamWells]

Will perform integration test this evening

[RealWilliamWells]

@vexandmore Can you review my changes and then approve? Once you approve, I will force merge this into master