Separate odom tf publish time #19
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This PR is on top of #18
This adds two things:
trylock()
methods, so in some corners cases one can get called in a given cycle but not the other.v_
intodp_
when they don't represent velocities, but "differences of position") and enforce constness where possible; inodometry.h
the changes are only of this kind in this PR.@paulbovbel @servos @afakihcpr