Cleaning up params, star_search test settings
Uwind many. Renamed some funcs with get_robot...
Use new util.get_strafe.  Change velocity default
Functional return to home platform, needs work
Use util.get_strafe
Logging for publish_beacon (commented out)
Allow > pi rotations, unwind return error instead
Merge remote-tracking branch 'origin/dumb_planner' into dumb_planner