Add hooks, overhaul logging, improve rostopic recording#4

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abhaybd wants to merge 8 commits intomainfrom hooks

+338-367

Commits on May 9, 2024

Add hooks to state
abhaybd
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Commits on May 17, 2024

Record data from ros topics
abhaybd
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Commits on May 21, 2024

Add logging and rewrite replay
abhaybd
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Commits on May 22, 2024

Fix locking bug and catch mode changes from proc thread
abhaybd
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Commits on Jun 6, 2024

Commits on Jun 7, 2024

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abhaybd
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