Find any problems with the entire actuation control system

[fnivek]

We need to work out all kinks such as how the boat kicked to the right at the competition.

Code to review:

• azi_drive_node
• azi_waypoint
• azimuth_drive
• pd_controller
• thruster_control
• dynamixel_servo_server
• stm32f3discovery_imu_driver

There may be others I missed, I omitted certain files that are used in the above files such as all the different types of trajectory generators used by azi waypoint.