Create node hierarchy to record relationships between nodes #86
Description
Currently, our system has every device as its own node. This creates too many nodes on the network and limits what we can send back and forth on the network.
To improve this, we want to only advertise the highest level nodes on the system. For example, we would only want to broadcast the "drivetrain" node instead of all eight motors and included sensors individually. The first step of this is to create a hierarchy structure of nodes, so we can determine relationships between nodes on the system.