Fuse odometry data using robot localization #268
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Fuse odometry (IMU and wheel odometry) using robot localization. This gives us the transform from odom -> base_link which is required for localization. It is the first step for setting up localization frames. Second step is the map -> odom frame which was giving me trouble; but I'm putting up this PR for now. Also adds IMU and GPS sensors into the sim.
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