Fake samples published only if in fake cam views
Narrower block check width for testing
Longer min pursuit
Convenient locs for fake_sample testing
First working draft of sample strafe searching
Visual servo x and y img points set to measured
Import tf for tf.Exception
Make starting_yaw and starting_position local variables

Eliminates possible race condition waiting for messages
Correct wait for messages in execute_spin
Merge remote-tracking branch 'origin/strafe_to_sample' into strafe_to_sample
Removed pose_rotate from search point calcs
Made timelimit kwarg None by default
Corrected unwind logic
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