Calculate strafe search moves properly

Store points in odom, calculate move in base link!
Replaced loginfo with logdebug
Debug points for strafe_search tests
Removed square_search_step override
Slower vel and accel for simple moves in pursue
Removed confusing 'replanning' from DriveToPose
Added params for visual_servo timeouts
Throw TimeoutException, else return remaining move
SimpleActionState waits on pause, and can continue