moving odometry logging to its own program, writing as csv

Description

Write Odometry to a separate file that can be easily parsed as a CSV instead of logging in json format.

What to focus on

• put content here.

Reviewers

• @alexandros
• @amyblank
• @bz
• @tn
• @ps

Resources

Issues

What issues does this fix?

• Fixes #163, #164