CAN bus + control aggregator for chassis

[Roozki]

This is a large task, and needs sub issues to break up the work

The chassis will have a number of devices, (lighting system, PTZ camera, rover lab).
Currently everything is planned around USB connections, but we can make it more robust by controlling these devices on a CANFD bus.

First step to this, is integrating with Elec, understanding if they have any plans already, and then roping their PCBs to also be controlled on this can bus.

Another step to this, is getting the CAN data onto the ROS network. For this, my first thought is a dedicated micro controller to aggregate all signals and then send on a single usb connection. Another option is directly interfacing with CAN on one of our rasberry pis.

Additionally, we will likely be implementing a CAN bus for the control base as well, so aim to re use as much code as we can with common libraries.