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_msgs/CMakeLists.txt

@@ -15,7 +15,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/MovePoint.action"
   "action/LookAt.action"
   "action/Rotate.action"
-  "srv/SetWidth.srv"
+  "srv/SendDouble.srv"
 )
 
 ament_package()