Robustify online calibration

[jakemclaughlin6]

Online calibration causes odometry to fail pretty frequently. Steps to debug this:

1. log the calibrations on graph updates, identify if the calibration gets skewed a lot when odom gets out of wack
2. print how many constraints are connected to the calibrations
3. maybe increase the priors on the calibrations, or we need to add more priors to them
   3.5 Add prior for every pose?

[jakemclaughlin6]

We want to run online calibration so we can output the calibrations at the end for hopefully improved calibrations