What should we do if kimera fails? Send lost status, and try to restart kimera with the latest pose?

[cagrikilic]

SRC2-Sensor-Fusion/sensor_fusion/src/sensor_fusion.cpp

Line 206 in 502cc13

//TODO: if pose NaN, then stop the rover, restart kimera with the latest pose (the one before NaN)

[jsngross]

Thought about this, since we are only using body-frame velocity estimates from kimera in our filter and not position, we just need to restart and no need to worry about special init. We can just let us use the "deadreckoning odometry" from the wheels as the initialization, which it already does.