Data visualization & collection during runs

- Use Foxglove instead of RViz to be able to view data without slowing down message processing on the boat
- Use an EE-based system (XBees?) to report essential task data regardless of range, and also potentially launch nodes?
- Make sure that recording rosbags during runs doesn't slow down the boat? Or see if we can at least do it during testing, using Foxglove to make it easier