feat: all the features

* Move rover-ros2/rover_launch.py to src/anchor_pkg/launch/, renamed to rover.launch.py
* Anchor now waits to initialize topics until after it has found a microcontroller.
* Headless now waits for anchor to start before it starts itself
* Add default cases to motor feedback for motorId
* Added black to the flake.nix and package.xml

src/headless_pkg/src/headless_node.py

@@ -48,6 +48,14 @@ class Headless(Node):
         # Initialize pygame first
         pygame.init()
         pygame.joystick.init()
+        super().__init__("headless")
+
+        # Wait for anchor to start
+        pub_info = self.get_publishers_info_by_topic('/anchor/from_vic/debug')
+        while len(pub_info) == 0:
+            self.get_logger().info("Waiting for anchor to start...")
+            time.sleep(1.0)
+            pub_info = self.get_publishers_info_by_topic('/anchor/from_vic/debug')
 
         # Wait for a gamepad to be connected
         print("Waiting for gamepad connection...")
@@ -65,8 +73,6 @@ class Headless(Node):
         self.gamepad.init()
         print(f'Gamepad Found: {self.gamepad.get_name()}')
 
-        # Now initialize the ROS2 node
-        super().__init__("headless")
         self.create_timer(0.15, self.send_controls)
 
         self.core_publisher = self.create_publisher(CoreControl, '/core/control', 2)