Moved odom and cmd_vel topics to global namespace.
Removed print.
Trying to refactor everything so that it works with both REEM and the test robot.
*Added urdf link iteration and changed robot format to xacro + added params.
Publishing odom even when there were no changes.
Broken test but on the right way
Fixed test.
Added turn test.
Test halfway fixed.
Changed ASSERT_TRUE statements to EXPECT_LT and EXPECT_GT expressions.
Changed checks on twist fields. Not interested in the difference but the final value of those fields. Checking for those.
Removed unused codes and added separate tolerances for position and orientation.