Odometry Glitches

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TBD

Y scales too different

   rqt_plot /cmd_vel/linear/x /wheels/data[1] /wheels/data[2] /phidgets/encoder/351547/count_change

 roslaunch floor_hugger motor_control_nav.launch
 roslaunch floor_hugger odometry.launch  
 rqt_plot /cphidgets/encoder/351547/count_change
 python motors_go_full.py 0.20 0.0

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