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The twist is computed as the relative transformation in SE(2) between
the previous and current odometry pose, divided by the time step dt.
This is the first PR of a big list trying to bring the CPR fork changes upstream: https://github.com/clearpathrobotics/ros_controllers/commits/indigo-devel?after=35323e012116cee02e9c2e25f5f31be14d44298b+139 (from June 8, 2015)
This first PR is the same as clearpathrobotics#2 with a few conflicts resolved.