initial attempt at 7-state EKF makes everything break
Fixed the sheetay tuning job on ekf_3state.launch.
I'm comfortable thinking that adding the 7state ekf didnt ruin everything just yet
modified the GPS measurement class so it takes the state size as an input
Added extra noise to the EKF initialization for the two addition Verr states
Slow 7-state EKF integration. Currently 7state works exactly as 5state, so the structure certainly exists
7-State EKF with Wheel Slip detection WORKED
Starting logging/debugging stuff to record data