changes

[gnuoyohes]

1. fixed bug where motors would move weirdly or hang when commands were incoming at too high of a frequency
   • created Movement class to handle executing incoming velocity commands
   • cmd_vel_callback now only sets the Movement's twist field
   • calls to the roboclaw_driver are now in the Node's run loop, preventing multiple callbacks trying to execute simultaneously
2. added pub_odom and stop_movement params for extra configurability
3. fixed typos 💯

[humbertgim]

These changes solves most of the problems due to writing asynchronously to the serial port. I'm still battling to find a solution for the main loop to get stuck for no apparent reason

[sonarqubecloud]

Quality Gate passed

Issues
2 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud