GotoState fails to transition to a new state when it has been called recently
Start system in active state
Enlarge safe region
Add maximum velocity parameter

slightly smaller than hard-coded values
Tweak visual servo

increase state change delay, move target point
Simple path for testing
Explicit command source selection

for better stopping
Fix typo in error logging
Fixed potential bug causing the rotate in place in the twirl() function to overshoot sometimes.  Also added a better star twirl search pattern
Merge remote-tracking branch 'robot/level1_beta' into level1_beta
Set planner speed lower in pursue
Incerease wait when getting robot pause
Correct timestamp on current robot pose
Updated rviz config
Put waypoint in test path
Add more logging
Tweak visualization
Fix time stamp happening later than it should
Add new drive home mode
Tweak rviz config