Fix base_controller build

[santerioksanen]

As I mentioned in https://github.com/ros-mobile-robots/diffbot/issues/89, I couldn't build the base_controller with PlatformIO.

This PR:

• Fixes base_controller build
• Sets teensy40 as the default target
• Adds a Github action to verify that base_controller is able to build
• Adds a shell script to setup Raspberry

The change in diffbot_base/scripts/base_controller/lib/base_controller/base_controller.h I am not totally sure of, but with the change in place I am able to build and run the project.