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.

docker-compose.yml

@@ -6,8 +6,8 @@ services:
 
   robot:
     build:
-      context: .
-      dockerfile: robot/Dockerfile
+      context: ./raspbot_v2
+      dockerfile: Dockerfile
       platforms:
         - linux/arm64
     image: raspbot_v2:latest
@@ -17,6 +17,13 @@ services:
       - /dev/i2c-1:/dev/i2c-1
     environment:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+    # Required for ros2_control to set SCHED_FIFO real-time thread priority.
+    # See https://control.ros.org/kilted/doc/ros2_control/controller_manager/doc/userdoc.html#determinism
+    cap_add:
+      - SYS_NICE
+    ulimits:
+      rtprio: 99
+      memlock: -1
     restart: unless-stopped
 
   lidar: