ROS simulation time for motion is too long.

[zmk5]

Using ros.Time with a physical pheeno extends motion for longer than what is the pheeno_ros_sim model. For example, the physical pheeno will maintain its angular velocity for 10 seconds and complete 3 revolutions, while the simulator will only turn 90 degrees. This is more of an issue with the simulator than the pheeno, but it needs time adjustment in the obstacle_avoidance.cpp and the random_walk.cpp code.

This issue affects both branches.

[zmk5]

One thing I have noticed is that the speeds used in the actual Pheeno and the simulated one do not match properly. A speed of 1.2 for angular velocity matches the current pheeno velocity of 0.07. I may need to devise a way for users to be able to do this on the fly. Maybe through an inherited class?