Overlay system for xbox controller to manipulate the arm and parts of science module

[emcauliffe]

have a topic that determines what mode the controller is in, then have each mode as a node that publishes to the appropriate topics that control driving/arm/drill/etc.

could have it so that pressing one of the XYAB/dpad buttons changes the mode.

In the arm control, pressing one of the XYAB/dpad buttons (opposite of whatever controls mode) can change what joint the joysticks manipulate. Maybe have the triggers/bumpers control the gripper open/close so that an arm joint can be moved at the same time as the grippers.