Implement services to expose various settings

[Achllle]

Description

Use of ROS services to expose important/commonly changed settings such as calibration values, min/max encoder values, speed/accel profiles and more
This means an easier way to change settings and allows for algorithms to change things on the go. Also allows for changing settings remotely through distributed computing (which ROS handles)

[Achllle]

A case for using more ROS stuff is that we become somewhat language agnostic. People can write code in c++ (or even java or lisp). The language of choice (although evolving) in ROS still is c++