[WIP/Tracking] Roboclaw Appendage Complete Integration

[robobenklein]

Tracking PR for finishing the Roboclaw appendage. (Not to be merged until spine can communicate all the way through to the drivetrain.)

Important Changes:

• Includes Navigation/dev
• Includes Appendages/roboclaw
• Includes Robo/docker-go-script
• Includes Arduino_gen/dev
• Ultrasonic & Servo appendages
• Fixes most of RIP CmdMessenger (in HACK-style)
• Additional changes to integrate and fix other bugs that arise during testing.

Questions & TODO:

• Roboclaw/dev: @solsane does this need to be integrated here at all? (Perhaps not?) @solsane opinions? After comp Todo
• Navigation/localization: will need to be brought up to dev (might need to change how we're getting localization info because of this) @amessing your feedback requested
• Periphery/dev: Do things in this PR need to be changed so that they make use of the new periphery features? Periphery OOP Interface #48 (Should this be included in the integration if so?) Who will check this?

• Add remaining RoboClaw commands (like encoder info, additional commands from source library) @solsane and @xxAtrain223
• Roboclaw library into https://github.com/utk-robotics-2017/ArduinoLibraries ( @solsane ? )
• New arduino_gen appendage config for teensy ( @robobenklein ? )
• Add RoboClaw appendage diagnostic. @solsane just wanna C+P from your old diag? (spaghetti code much?)
• Add documentation and help flags for all the scripts new features ( @robobenklein )
• Low priority: add script to ease copying and deployment of emulated-built targets to pis.
• Obsoletes Roboclaw Fixes #62
• Need to update Drive Arc #38 Turn to angle action #39 Create Follow Trajectory Action #41
• Unit testing for CmdMessenger is 100% screwed over. Someone please look and see if this is an easy fix?

Please review the changes here and begin submitting feedback now.

Right before merge checklist:

(In order to reduce chance of merge conflicts during the work...)

• Fix indentation levels (currently mixed tabs and spaces)
• Remove a lot of extra cout statements, convert some to RIP logger debugs.
• Check in with roboclaw/dev and @solsane so they can get any important changes / potential problems from here onto that branch.
• Perform complete production-mode test
  • Build hugo in production
  • Copy to robot
  • Build teensy appendage with arduino_gen and upload for orange
    • 3 Roboclaws, 6 ultrasonics Ultrasonic #22 , 4 servos Servo #23
  • Run roboclaw diagnostic to ensure each motor controls correctly
  • New robot repo for competition bot??? ( whoever does see @robobenklein for specific cmake commands needed to separate build artifacts )