pre-solo-offense-2024: Zoner defense 2 (#2256)

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Versions newer than this are incompatible with the 2023 fleet

This is the last commit on ros2 prior to updating the networking stack to communicate with the Base Station for the 2024 fleet. This can be checked out to run old robots that communicate on WiFi directly to our computer.

Versions newer than this are incompatible with the 2008/2011 fleet

After this point, the software is compatible only with the 2015 robot fleet. The 2008 and 2011 robots are no longer compatible. This version is tagged so that it can be checked out at any time to run old robots.