Odom pub now declared before timer thread uses it
Added translate_pose_by_yaw.  For level_two_random
Changed all while True to use rospy.is_shutdown()

Hopefully this will fix shutdown issues.  Also cleaned up the
util.rotate_pose calls in pursue sample.
First draft level_two_random, and launch node
Use rospy.is_shutdown() for while loops.
Improved DriveToPoseState.  Exits on preempts...

Also replans if the target_pose changes
New launch parameters for level_two_random
Added new path point format to launch
Service preempts and handle 'complete' outcome
Make a deepcopy of poses before returning them!
Increase point cloud publish rate