Base Migrate to ROS2 Humble

[Carter90]

For now just want to focus on

• Arduino Rewrite (without microros)[This would be a nice to have but if we are constrained by time]
• Consume wheel encoder ticks and produce odom (Abridge)
• Recreate PID(Low level Velocity Controller) for motors
• Logging for internal values of PID
• float64 setpoint
• float64 feedback # current wheel speed (encoder ticks/sec)
• float64 output # current output sent to the arduino
• float64 error # setpoint - ticks
• float64 p_term
• float64 i_term
• float64 d_term
• Driver to consume pose and produce vel for pid (src/mobility/src/mobility/driver.py)
• API to control robot, ie drive(1) #drives 1 meter, turn(math.pi/2) #turns 90deg (src/mobility/src/mobility/swarmie.py)

See if ros-humble-diff-drive-controller port would be easyer