Adding launch files to support 3 miabots at a time.
Changed miabot waypoint controller to drive robot forward or backward interchangably
Changed miabot low level controller to accept either velocity inputs or waypoints at the same time. Removed argument for vel or waypoint.
Added waypoint on boolean to miabot low level to switch between wp and vel control
Updated waypoint gains in main launch file.
Updated gains in run 3 launch file
Fixed errors in waypoint control math.
Separated miabot low level controller into it's own launch file.
Adjusted min miabot blob size to account for blurring when moving fast
Added BelugaArray message type to dcsl_messages
Fixed typo from last commit in dcsl messages cmake file
Added beluga functionality to the swarm director
Merge branch 'groovy-devel' into beluga-update
Updated miabot_main3 for updated swarm director after merge.