Motor Information Publishing Node

[aerin-brown-codes]

Make sure there's a node (separate from the drive control setup) that broadcasts drive odometry info (namely wheel speeds) taken from the firmware. This is needed for autonomy (and can probably help UI too).

[sebasresen]

The main goal of this task is to take the motor info collection and publishing portion out from the main drive node and put it into a new script.

1. Make a new branch from main.
2. Take a look at the current Drive Control Node.
   Identify the portions where the motor information (speed, voltage, current, etc.) is retrieved using the CAN library and published through ROS.
3. Make a new Python script (node) in drive/scripts/ (ie. motor_info_node.py).
4. Move the portion of the Drive Control Node that you identified into this new script. Note that you will also have to initialize the CAN interface the same way we do on the Drive Control Node.