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.

raspbot_v2/src/raspbot_v2_sim/launch/rviz2.launch.py

@@ -0,0 +1,49 @@
+import os
+
+from ament_index_python import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler, TimerAction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    
+    declared_args = [
+        DeclareLaunchArgument(
+            'namespace', default_value='',
+            description='ROS namespace for all robot nodes (e.g. "robot1").'
+        ),
+    ]
+
+
+    rviz_config_dir = os.path.join(
+        get_package_share_directory('raspbot_v2_sim'),
+        'rviz', 'raspbot_v2.rviz')
+    
+    bringup_robot = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('raspbot_v2_bringup'), 'launch', 'raspbot_v2_bringup.launch.py'
+            ])
+        ]),
+        launch_arguments={
+            'namespace': namespace,
+            'use_sim_time': 'false',
+        }.items()
+    )
+
+    return LaunchDescription([
+        *declared_args,
+        bringup_robot,
+        Node(
+            package="rviz2",
+            executable="rviz2",
+            name="rviz2",
+            arguments=['-d', rviz_config_dir],
+            output='screen',
+        )
+
+    ])