Egregious crap to prevent timeout
Lots of logging
Loop rate is 10 Hz again
Added unwind to util
Cleaned up logging, moved frequent msgs to debug
Merge remote-tracking branch 'origin/dumb_planner' into dumb_planner

Conflicts:
	ros_workspace/src/samplereturn/src/samplereturn/simple_motion.py
Switched distance and angle in execute_strafe
Removed obsolete params, added star search params
Shorter wait in fake homing
Major refactor of line manager and params