Add firmware code to repo (#8)

* Added primary stepper motor driver code to repo
* Added odometery encoder code to repo
* Added the ability to update encoder wheel ratio via ros service
Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>

mg_bringup/launch/launch.py

@@ -33,7 +33,7 @@ def generate_launch_description():
             condition=UnlessCondition(LaunchConfiguration('local_test')),
             parameters=[{
                 'odom': "odom",
-                'serial_path': "/dev/ttyACM1",
+                'serial_path': "/dev/ttyACM0",
             }],
 
             emulate_tty=True,