Combined Linear/Angular Movement

[gmfricke]

No description provided.

[Carter90]

Scoot.py publishes control, Driver.py consumes a custom MoveRequest msg
['r', 'theta', 'timer', 'angular', 'linear', 'obstacles', 'timeout']
We could overload the r and theta if both are not 0.0 then go in to a strafing state

topic cmd_vel in drive_controller.py consumes Twist data like

linear: 
  x: 0.0
  y: -0.5
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 0.0

[Carter90]

translate.mp4

See changes in
2395eae
c944ecb
4072afb

@note there is currently a new bug added in this code where the goal wont be reached when strafing, need to pull @abbypribis changes from cap-drive-turn to track it down