Kubo: Odometry

Links:

• https://github.com/olin-robotic-sailing/oars-roboboat
• http://wiki.ros.org/robot_state_publisher/Tutorials/Using%20the%20robot%20state%20publisher%20on%20your%20own%20robot
• http://www.ros.org/reps/rep-0105.html
• http://wiki.ros.org/navigation/Tutorials/RobotSetup
• http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF
• http://docs.ros.org/lunar/api/robot_localization/html/state_estimation_nodes.html#ekf-localization-node

Ackermann stuff:

• http://wiki.ros.org/Ackermann%20Group/January%2029%2C%202012 - "We use "/vehicle" instead of "/base_link", and define it to be the point on the ground immediately below the center of the rear axle." - Jack