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Implement Real world Odometry
Following discussion in #33, we need some way to get real world motion to help with planning.
This will probably be much more easily done through some hardware that gives us a callback. Pending discussions.
So I believe this works, but we weren't able to test it yesterday due to time constraints and other issues. Therefore I'm keeping the issue open until we have it fully tested. Might be even easier when we have merged #100
Once we have tested it, we can work on the issues that use the odometry to do things
So we have this in the same place, these comment was made in issue #33. They show what things will use odometry
travel_distance will be calculated with odomcallback #148
num_points_in_tentacle will be updated to use that ^ correctly, or can be done to say "total travel needs to be 6 meters, so do as many points as needed, except have a max number of points"
breaking_distance will be based on odometry too #54
We tried outputting what odometry callback published and we're getting consistent 0s. I think something might be off either hardware or software-wise. we need to look into it.
PR #146 temporarily disables odom callback through Serial port. The reason being that we were sending those callbacks at every command received, which was blocking the Serial port half the time. The solution is to send odom callbacks through serial only once every x milliseconds.
PR #150 reenables odom callback, and fixes it altogether. String formatting in the .ino files were the initial cause of pain, and reading form Serial does not cause blocking issues.