Parameterize coordinate frames in beacon finder
Parameterize kalman filter filtering frame
Remove explicit frame dependence from costmap_check

use frame specified in costmap
Also, move costmap to odom frame since it rolls with the robot
Parameterize linemod detection frame
robot simulator respects motion_mode

and add joystick input
Explicitly parameterize executive frames

for level_two and pursue_sample

world_fixed_frame - may move in large jumps but should not drift - map

odometry_frame - continuous motion for short-term operation - odom
Move ServoController into executive_states

In preparation for use in manual_control
Parameterize frames, use ServoControl

Instead of custom servo state
Correct message in manual control
Merge remote-tracking branch 'github/dumb_planner' into dumb_planner

Conflicts:
	ros_workspace/src/executive/src/executive/costmap_check.py
	ros_workspace/src/executive/src/executive/pursue_sample.py
Use odometry_frame in MoveToPoints state
Restore detected_sample key lost in merge
Correct copy-paste error
Adjust costmap evaluation parameters

Slightly narrower on the sides, wider in the middle