adds open loop odometry
Cosmetic refactoring
adds open loop test
adds odometry init to reset timestamp and accs
cosmetic changes
removes angle normalization
adds support for multiple wheel joints per side
adds skid steer bot test
adds no wheels test
simplifies error checks
fixes missing std_srvs test dependency
Fix test xacros
Merge pull request #136 from bmagyar/diff_drive_open_loop_odom

Diff drive open loop odom
Merge pull request #137 from bmagyar/diff_drive_remove_angles

diff drive remove angles
Merge pull request #138 from bmagyar/diff_drive_skid_steer

diff drive skid steer
use current position when starting (forward_command) position_controllers; effort and velocity still use 0.0