ROS Drive Mode Control Node

[EpicWolverine]

Switching between manual control and auto control

[EpicWolverine]

Change from the original flowchart: This node will take in speed and angle from the Auto Control Logic #21 (topic auto_drive) and Manual Control Logic (topic manual_drive), both of which will use geometry_msgs/Twist messages where speed is linear.x and direction/angle is angular.z. This node will handle converting speed and direction into wheel speeds. See joystickCallback() in #34 and @ajbertani's explaination in Slack for how to do this.