Send direction into optimizer
Debugging statements
Carefully initialize first step
Add large jump detection
Add velocity to optimizer
Make all transform lookups rooted

This eliminates a warning during transform lookup
Only allow optimizer to adjust velocity magnitude

If the direction of the velocity is not aligned with the translation, the
optimizer has difficulty converging. This seems like a non-physical result as
well, so restrict the space the optimizer can work in.
Cleanup initialization and timing

Jump and first time both reset velocity sum and wheel delta start points,
so use the same piece of code for both.

Only update delta start points and velocity accumulators when optimization
succeeds. This allows small deltas to accumulate into a meaningful change
and gives a cleaner result.
Remove velocity_emphasis fudge factor
Correct velocity orientation and make it more stable

Only compute velocity direction of norm is high enough, and then
report proper velocity direction.
Tweak default delta_threshold
Allow larger steering offsets
Emit 0 velocity when stopped

Instead of continuing to emit last computed velocity
Tweak steering offsets
Increase circumscribed_radius to clear larger area on startup

Also turn down inflation_radius, footprint is already padded.
More base_local_planner tuning

Working a little better
Merge branch 'odometry_velocity' into navigation_stack
Merge branch 'robot_tuning' into navigation_stack