[✨FEAT✨]: CAN interface node

[Jack17432]

Is there an existing enhancement request for this?

• I have searched the existing feature requests

Description

A node that reads the CAN bus and out puts all the raw can messages to a topic and is also a service to publish things to the CAN bus.

Additional Information

Just communicates the raw can messages and dose not care what things are or knows what things are.

[Jack17432]

This should be put under the moa_driver package as this will be the main CAN interface driver for the jetson nano

[Jack17432]

This node should output all can messages to a raw_can topic as should be dum. As well as it should publish only though a service so that the node that is wanting something published can know wether it was sent and can react accordinly.

[Jack17432]

Hardware has arrived and is inside of the computer/telem box in the electrons room

[Jack17432]

Publish to the /raw_can topic when it receives any new can bus data
Opens a service called publish_can_data that takes in moa_msgs/srv/CANSendReq

[Jack17432]

For now I will leave the diagnostics to do later and just get the telem up and going.