Change to odometry

[Carter90]

Guaranteed to score a 0 or your money back So now we should score a 2, a second score attempt will 99.9% fail like in a test it was (x was off by 2m, y was off by 22m), this is how bad our real odom is

Score uses an offset for odom and created class member variable to store it for future use.

If we fail on the first attempt, we are toast, please paste the output of ./src/scripts/src/closestVolPose.py and either the output from the roslaunch ./launch/whatever or ~/.ros/log/latest/scout_1-Task-*.log A failed output would look like this:

[WARN] [1599034427.403307, 11.528000]: I found a volatile! hydrogen_sul
[WARN] [1599034427.413876, 11.536000]: true_pose_got:
[WARN] [1599034427.416109, 11.538000]: x: -12.8667139018
y: 18.703975351
z: 0.489215792501
[WARN] [1599034427.418209, 11.540000]: trying vol_loc:
[WARN] [1599034427.419962, 11.541000]: x: -14.0097139018
y: 18.703975351
z: 0
[WARN] [1599034427.439229, 11.556000]: Score attempt failed

output from./src/scripts/src/closestVolPose.py

Rover pose:
x: -12.8651804331
y: 18.699419422
z: 0.489181077181

 Closest Volatile pose:
x: -12.3591652085
y: 16.7338461116
z: -1.13403773879

Rover pose and true_pose_got match We want trying vol_loc to be as close as possible to Closest Volatile pose