Summary

Currently, we configure the team communication IP in a config file. This way we have to change it between competitions, lab, etc. to use the broadcast IP of the network in most cases.

Describe the solution you'd like

A suggestion would be to just dynamically use the broadcast IP of the connected wifi interface automatically, but also keep the option to manually configure it.
Additionally from ros 1 times we also have a local mode, which was used when simulating multiple robots on a single machine, which is not possible anymore, and can be removed.