Todo List

Member vesc_ackermann::AckermannToVesc::erpm_pub_

consider also providing an interpolated look-up table conversion

Member vesc_ackermann::VescToOdom::vescStateCallback (const vesc_msgs::VescStateStamped::ConstPtr &state)

could probably do better propigating odometry, e.g. trapezoidal integration

Think about position uncertainty, perhaps get from parameters?

Think about velocity uncertainty