Scheduler

[coalman321]

Create a robot scheduler system that polls certain input topics and will start certain actions as a result.
This should be used to poll user inputs from the IO nodes and trigger action calls as a result.

• Support active high triggering
• Support rising edge triggering
• Support toggle triggering
• Support using XML to map input to output actions
• Communicate with configuration server to generate input to output mapping on startup
• Support falling edge triggering
• Support active low triggering