I was having issues witht the DR loop running slower than expected, which was causing integration errors. Now the actual loop period is used.
LAT/LON publisher
Added a publisher for latitude and longitutde as a geo point. Subscribes to DR odom and transforms to the correct UTM coordinates then used the conversion service.
Compass heading publisher
DR is not aligned with the map, causing a heading offset depending on SAM's initial heading. Now the correct transform is performed.
UTM <-> Lat/Lon conversion service
Modified the create_service() to use instance method
DR Changes
LAT/LON publisher
Compass heading publisher
UTM <-> Lat/Lon conversion service