use rosserial to interface with a microcontroller that controls the servo for the camera

[bsubei]

• attempt to use rosserial with Teensy using their Arduino thingie
• if it doesn't work, try just an Arduino with rosserial
• publish camera tf based on feedback from servo
• subscribe to ARUCO topic to find out what status is. If marker not found within a time interval, start sweeping to look for one.

[bsubei]

Fix one last bug: Timer1 interrupt has inconsistent timing, check if it has to do with rosserial or with the Teensy.

• run Timer1 on the Teensy without Servo library. If issue goes away, then it's the servo that's the problem.
• run Timer1 on the Teensy without rosserial. If issue goes away, submit issue to rosserial.

[bsubei]

turns out Timer1 doesn't work properly on the Teensy 3 (both 3.0 and 3.1). I tried IntervalTimer instead and it works fine.

[bsubei]

first add new feature to start sweeping before it sends lost topic

then clean up node

• refactor code more neatly (remove stupid while loops inside of loop())
• add comments
• update documentation with topic details and everything

[bsubei]

done... just needs more testing