Ah, asdf does indeed have a local config option

It didn't seem to work and now it does.

Spooky.

HOKAY Physics can now send info about its bodies and ground to Foxglove.

A little jank, since it's just TF poses, but apparently making a real Scene
with 3d elements is a lot more work.

Major refactor of Server to make serialization less horrible

...and it worked on the first try!  So far anyway.  I'm actually getting
the hang of Elixir.

Starting to stub out physics data flow

oh heartbeat is weird

Make robot state actually move.

It's, well, a start.

Reformat and reorganize a little.

Unfuck Goatglove channel handling a little

I have figured out the right process layout for time heartbeats.

And it all works perfectly on basically the first try.  Gods I love
ERTS.

Cleanup schemas a little, and add time heartbeats to server

The server is a little kerfucked, need to make it have its own
supervision tree.

Ok schemas are slightly less fucky now.

Turns out you can just casually execute module code at compile time.

I think I'm going to hell for this but if it's wrong I don't wanna be right.

thinking about schemas

reformat

fix dialyzer errors

HAH it works!  Barely.  Finally.

Oh Foxglove displays messages just fine if you always include the schema.

What the heck did I see that let the schemas be "null"????

time seems like it should be correct?  weird.

hokay foxglove is receiving the messages and decoding them but not displaying them

and I don't know why.  Is it some kind of timestamp thing?