lang:ROS/Python/C++ End to end solution for driving a robot based on position.

The overall interface is:

• listen on msg/odom for current position
• listen on msg/lead/desired for current desired position
• publish on msg/cmd_vel to control the robot

Maintains the high level list of position goals for the robot to attain in map space.

Creates and updates the lower level list of interim position sub-goals for the robot to try to match to reach between Path goals.

Outputs a velocity command based on a current position and the desired next position from a Leader to try and match the two.

For everything to run properly, run the following: catkin_make --only-pkg-with-deps drive_stack