added odometry scaling. It seems like the RMP 50 is exactly off by a factor of 2 from the specifications provided by Segway Inc. This scaling parameters allows odometry to be appropriately scaled.
fixed a small typo in the launch file. also included commented out usage of acceleration parameters and odometry scaling
absolutely essential to have all velocities set to 0 at the start. results can be somewhat catastropic if uninitialized and used with acceleration limits.
bugfix in odometry initialization
bugfix for odometry velocity calculation
added ROS parameters for performing software reset of odometry incase the h/w integrator reset fails
added velocity limits to driver
Merge branch 'master' of https://github.com/segwayrmp/segway-rmp-ros-pkg
Merge pull request #9 from utexas-bwi/master

A number of improvements to the segway driver.