Initial pass at integrating acceleration.
Merge pull request #15 from cra-ros-pkg/master

Pulling in changelog and package.xml from upstream
Merging master branch into differential
Updating tests to match new state size
More test updates to match new state size
Some tweaks for better acceleration debugging and updating test 2
Small change for a slight efficiency increase
Adding 2D mode (see issue #21)
Merge pull request #91 from ayrton04/master

Adding 2D mode (see issue #21)
Updating parameter name and bag test locations/tolerances
Merging acceleration branch into master
Merge pull request #95 from ayrton04/master

Merging acceleration branch into master
Merge pull request #96 from pmukherj/master

adding service to set pose