For anyone having similar problems, I believe I've found the source of my
troubles.

The process I am using to get odometry is running at an average of 50 Hz,
but there are times when the loop takes .3 to .4 seconds! I never saw it
when running rostopic hz odom because I never ran it long enough for the bug
to rear it's ugly head.

Thanks for helping me track down the problem.

Best,

-Zac
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