• Function docstring comments
• change "callback" to more specific - e.x. "lidar_cb"
• Not running anything . . .
• In run loop, check for "rospy.is_shutdown"
• Also, throw in a section that waits until it gets lidar data to run main loop. Put in run function.
• Last command in "if name == "main" should be calling run function.
• Set up a rospy.Rate()
• For var name and comments, reference base_link coordinate system
• Draw and save quick diagram labeling geometries
  You're super cool though!

Please add downward-facing lidar and run some tests.

1. Output twist messages that conform to the new state controller
2. Register node as safety behavior by following instructions on wiki
3. Implement some way to run with or w/o groundlidar
4. Test with Amy's simulation