Port improvements from ROS1 noetic#202

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sharminramli wants to merge 2 commits intoCCNYRoboticsLab:rollingfrom

enwaytech:sr/reverse-backport-from-noetic

Commits on Jul 9, 2024

Increase max stddev, add pose visualization (#192)
sharminramli
committed
Added ability to reset IMU filters when ROS time jumps back (#165)
sharminramli
committed