Merge remote-tracking branch 'refs/remotes/origin/integration' into integration

Author: umroverPerception

config/esw.yaml

@@ -66,10 +66,10 @@ can:
       id: 0x26
     - name: "mast_gimbal_y"
       bus: 3
-      id: 0x30
+      id: 0x28
     - name: "mast_gimbal_z"
       bus: 3
-      id: 0x28
+      id: 0x30
     - name: "sa_x"
       bus: 1
       id: 0x29

launch/basestation.launch

@@ -22,6 +22,7 @@
   </group>
 
   <node if="$(arg rtk)" name="basestation_gps_driver" pkg="mrover" type="basestation_gps_driver.py"
+        respawn="true" respawn_delay="2"
         output="screen"/>
 
   <node if="$(arg network)" name="network_monitor" pkg="mrover" type="network_monitor.py"/>