Adding the tf_practice.py file. This is my attempt to do pose transformations without relying on tranformations.py
Heavily edited the tf practice file
Edited tf practice and got results on the transformation. Have not confirmed if they are correct or not.
Added a service for transforming poses and a service file.  Edited zig_zag_demo to use the service. Cannot test on my laptop, so not verified.
Fixed missing self issue.
Fixed small errors. This version now has an error that says the goal is invalid because the quaternion's z axis is not close to vertical. I don't know why.
Attempt at fixing orientation error
minor bug fixes
Increased tolerance, commented out some logs, printed distance to goal in arewethereyet
Still tweaking
Hopefully fixed the areWeThereYet method. Testing on turtlebot
These version did the full course shackily but completely twice in a row. Improvements to move base need to be made
working demo (with points further apart)
changed move_base tolerance
fixed conflict