[Driver] check stability in the face of noisy localization

[buckbaskin]

[buckbaskin]

I've created a noise generator for Odometry. It's currently just a uniform, large error/jump situation, but it shows that everything is being generated on a normal distribution.

[buckbaskin]

See commit 5a4d62d
The noise parameters are more reasonable, and I'm going to add a noise-model, so that noise changes based on how the robot moves. Hopefully in line with how EKF noise changes.