implement dynamixel control from jetson

[owenpark8]

servo: https://www.robotis.us/dynamixel-xl330-m288-t/
dynamixel protocol 2.0: https://emanual.robotis.com/docs/en/dxl/protocol2/
last year's arduino code to control servo: https://github.com/umrover/mrover-esw/blob/main/src/sa_arduino/sa_arduino.ino
last year's jetson code to control arduino: https://github.com/umrover/mrover-ros2/blob/main/esw/sa_hw_bridge.cpp
dynamixel arduino protocol code: https://github.com/umrover/mrover-esw/tree/main/src/sa_arduino/libraries/Dynamixel2Arduino

there are two parts:

• linux async and synchronous serial c++ library via boost asio (development on the linux/serial branch)
• generic c++ dynamixel protocol 2.0 library

[owenpark8]

this project is pivoting after finalizing with electrical. this is the new servo control scheme:

jetson --> u2d2 --> xl330 servo

this will allow us to utilize the ros2 library in the dynamixelsdk to easily control the servos from the jetson

basic tutorial video: https://www.youtube.com/watch?v=E8XPqDjof4U
relevant example code: https://github.com/ROBOTIS-GIT/DynamixelSDK/blob/humble/ros/dynamixel_sdk_examples/src/read_write_node.cpp

you guys can both put your efforts into this. if we find that this solution is bad, then we can go back to our original goal

if y'all need help with ros2 and/or setting up this dynamixelsdk library with the mrover-ros2 repo, feel free to ask for help