Ported over odometry and control using new serial communication

toid_bot_description/src/toid_bot_control.xacro

@@ -6,7 +6,7 @@
     <ros2_control name="${name}" type="system">
       <xacro:unless value="${use_mock_hardware}">
         <hardware>
-            <!-- plugin would eventually go here-->
+            <plugin>toid_control/StepperInterface</plugin>
         </hardware>
       </xacro:unless>
       <xacro:if value="${use_mock_hardware}">
@@ -19,13 +19,11 @@
       <joint name="drivewhl_l_joint">
         <command_interface name="velocity"/>
         <state_interface name="position"/>
-        <state_interface name="velocity"/>
       </joint>
 
       <joint name="drivewhl_r_joint">
         <command_interface name="velocity"/>
         <state_interface name="position"/>
-        <state_interface name="velocity"/>
       </joint>
 
     </ros2_control>