update old pos before publishing odom#599

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1hada wants to merge 3 commits intoros-controls:noetic-develfrom

1hada:noetic-devel

Commits on May 18, 2022

validate old joint position data in order to calculate true velocity.
1hada
committed
update comment to briefly describe need for initially valid wheel positions.
1hada
committed

Commits on May 19, 2022

Merge branch 'ros-controls:noetic-devel' into noetic-devel
1hada
authored