Started on choreographer for ford demo video.

New package abby_choreo contains a simple goal broadcaster based
on Roberto's tour executive. Loads a series of goal points from
a YAML file and then goes to them.
Forgot to make choreographer.py executable. Derp.
Python syntax *grumblegrumble*
Fixes diagnostic levels for abby's encoders.

Abby's wheel:motor encoder ration is 1:16, not 1:15 as on HARLIE.
The values are correct in the cRIO config files on Abby, but the ROS
diagnostics were assuming 1:15 and throwing errors.
Too tired for commit messages...
Python is being all touchy about ints and floats
...and ROSPy is being touchy about time durations.
also syntax. I may be getting too tired.
Added some sleeping to the connect because woops.
Added AMCL to the mix, cuz why not. Maybe it'll help...
Added proper shutdown to choreographer.
F'ing python doesn't use bangs for not
lol camelcase. I wish everyone used it.
AMCL, now with more initial pose.
...and less derp.
Added rl_swap to all config files.

All robots but Abby have rl_swap set false, but it must be set to
something or twist_receiver will err out.
Fixes abby initializing in the wrong part of the 2nd floor.

It turns out the initial pose was being set in two places -- in the
launch file and in the parameter yaml file. I removed the initial
pose from the yaml file, and it now sets correctly to whatever I make it
in the launch file.
Working on adding rlswp support to crio receiver.
Working on adding rlswp support to crio receiver.
Removed amcl from choreo.