Add in odometry state protection
add in protections to prevent odometry jumping when the robot settings are changed
The though on this is that currently the odometry comes from the robot, and is read only, there should be a way to create a service that sets the current position and orientation of the robot based on what the client side thinks that it should be.
This would be useful when switching robot 'modes'. when the robot switched from following to spacing the odometry is reset. to prevent this happening the best solution it to detect when this happens and set the position to whatever it was before the reset.
This will require finding the correct probe to do this and creating a ROS service that performs that task.
Additionally when this feature has been added it may be beneficial also add a feature to automatically preserve location when the robot task state switches.