Begun adding the head...
Head still doesn't work...debugging
Head & tilt laser are tested working. You can also set the positions of head pan & tilt and laser tilt.
Turned off some INFO statements
Changed Durations to all zeroes.
Changed the rest of durations to zeroes.
Added publish() functions that make more sense. Removed a usleep.
Added ns, id to visualizeTrajectory()
* Added function for getting pose marker
* Added a few comments
* Need to remove visualizePose functions and combine them
* Removed about 800 lines of code. Replaced with calls to leatherman
* Removed 3 unneeded deps in manifest
A little more cleanup
Fixed some comments.