Added a basic timer to the start of an image switcher class
Added a 'change mode' method and some more flexibility to the ImageSwitcher class like a possibility to change the image_period
Increasing functionality of the ImageSwitcher class by setting it up so that mode and period can be switched simultaneously with a reset option for the image updater method.
Mode switching and updating and period changing work, just need to actually implement publishing to head and then test on Baxter.
Everything except actually publishing the images works in the ImageSwitcher class
Fix up baxter_controller.py to use the new class, about to do that
Baxter_controller.py is up to date, need to test on real robot. Hopefully this improves performance.
Testing done on Baxter. We're good to merge.