fixed odometry position; fixed possible message reordering (enable/disable); fixed backward movement; added enable/disable for safety controller; added ros::ok checks to make the program more responsive.
fixed odometry position;
fixed possible message reordering (enable/disable);
fixed backward movement;
added enable/disable for safety controller;
added ros::ok checks to make the program more responsive.

jcp19/ros_packages,jcp19/ros_packages