Comm node

[andrew103]

Implement ROS node as an interface to the serial port and a node to test the interface with random data. Also includes empty comm_socket file that's unused currently

[andrew103]

Note: testing node doesn't explicitly try edge cases

[goobta]

Comments attached. Also, do we have tests for the logic? Testing serial ports is probably more hassle than its worth, but there's a lot of logic in com_socket that is super susceptible to off-by-one errors--it'd be nice to have the piece of mind that it all works :)

As always, gonna let @mahajanrevant give the final approval because he actually knows what's going on.

[andrew103]

Comments attached. Also, do we have tests for the logic? Testing serial ports is probably more hassle than its worth, but there's a lot of logic in com_socket that is super susceptible to off-by-one errors--it'd be nice to have the piece of mind that it all works :)

As always, gonna let @mahajanrevant give the final approval because he actually knows what's going on.

Similar to the arduino setup, there aren't any tests that explicitly check the logic other than looking at the output on the other end. I could setup the testing node with a fixed set of values to send instead of random ones to be sure everything is correct.

[mahajanrevant]

Some comments for you to look at @andrew103.
@agupta231 give them a glance too

[mahajanrevant]

Looks good!! I am going to approve it from my end. I have resolved the conversations but @agupta231 feel free to look at them. I am leaving this to you to merge it in

[goobta]

lgtm, we can address everything else in future PRs.