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[#349] storing and publishing odometry with correct velocity

Jit Ray Chowdhury requested to merge 349-gear-change-only-when-stopped into master

Description

The gear change is supposed to happen only when velocity is 0. Odometry was not updated or published correctly and always reported velocity as 0. Thus gear was changing with any velocity, and some other logics based on velocity were also affected.

Solved part of issue #349 (closed)

Notes for Reviewer

  • Now gear change happens only when velocity is 0
  • /odometry topic from lgsvl_interface has velocity_mps and time stamp filled correctly

To see effect on gear change !227 (merged) is needed.

Checklist

  • Documentation was updated
Edited by Jit Ray Chowdhury

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