Migrate to a new physical robot

Uses the mecanum controller properly across physical and virtual
There is a timing issue with i2c which is why the control update is limited to 10hz
The sonar and LED's arent yet working, this will come soon.

ansible/setup_robot.yml

@@ -12,5 +12,38 @@
       command: raspi-config nonint do_spi 0
       changed_when: false
 
+    # Real-time scheduling setup per
+    # https://control.ros.org/kilted/doc/ros2_control/controller_manager/doc/userdoc.html#determinism
+    - name: Create realtime group
+      group:
+        name: realtime
+        state: present
+
+    - name: Add robot user to realtime group
+      user:
+        name: "{{ robot_user }}"
+        groups: realtime
+        append: true
+
+    - name: Configure real-time scheduling limits
+      copy:
+        dest: /etc/security/limits.d/99-realtime.conf
+        content: |
+          @realtime soft rtprio 99
+          @realtime soft priority 99
+          @realtime soft memlock unlimited
+          @realtime hard rtprio 99
+          @realtime hard priority 99
+          @realtime hard memlock unlimited
+        owner: root
+        group: root
+        mode: '0644'
+
+    # - name: Install low-latency kernel for improved RT performance
+    #   apt:
+    #     name: linux-lowlatency
+    #     state: present
+    #     update_cache: true
+
   roles:
     - geerlingguy.docker