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_control/assets/mg_base_controllers.yaml

@@ -12,7 +12,7 @@ diffdrive_controller:
     left_wheel_names: ["left_motor"]
     right_wheel_names: ["right_motor"]
     
-    enable_odom_tf: true
+    enable_odom_tf: false 
     odom_frame_id: odom_excpected
     base_frame_id: base-link