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.

webui/backend/ros_node.py

@@ -2,7 +2,7 @@ import threading
 import xml.etree.ElementTree as ET
 
 import rclpy
-from geometry_msgs.msg import Twist
+from geometry_msgs.msg import TwistStamped
 from rclpy.node import Node
 from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
 from sensor_msgs.msg import JointState, Range
@@ -39,7 +39,7 @@ class RobotBridgeNode(Node):
     def __init__(self):
         super().__init__('webui_bridge')
 
-        self._cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel', 10)
+        self._cmd_vel_pub = self.create_publisher(TwistStamped, '/cmd_vel', 10)
         self._joint_cmd_pub = self.create_publisher(JointState, '/joint_command', 10)
         self._led_color_pub = self.create_publisher(ColorRGBA, '/led/color', 10)
         self._led_effect_pub = self.create_publisher(String, '/led/effect', 10)
@@ -59,9 +59,10 @@ class RobotBridgeNode(Node):
     # ------------------------------------------------------------------
 
     def publish_cmd_vel(self, linear_x: float, angular_z: float) -> None:
-        msg = Twist()
-        msg.linear.x = float(linear_x)
-        msg.angular.z = float(angular_z)
+        msg = TwistStamped()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.twist.linear.x = float(linear_x)
+        msg.twist.angular.z = float(angular_z)
         self._cmd_vel_pub.publish(msg)
 
     def publish_joint_command(self, pan: float, tilt: float) -> None: