Initial version of localization_node, able to gather basic information
from p2os odometry and ar_pose marker positions
Created ARMap structure and UKF class. Built a rough draft of things
needed by UKF. Still very messy.
Added code by Gama+Figueiró for reference while porting to ROS. Eigen
build is still not working...
Added FindEigen.cmake so eigen can be found by ROS
Added joy.launch to make it easier to teleop the Pioneers
Fixed and cleaned up prediction... Still need to check for memory
allocation issues.
Edited some more functions for clarity
Realized resampling is not being done when it should be
Random bug when passing ~40m moving in a straight line
Should add covariance matrix to publishing step
Added some equations for measurement model... Thinking about changing
UKF implementation to augmented state form
First few changes to work by the book "Probabilistic Robotics"
Some more of the general outline
Major revision with Figueiró to fix compilation errors and squash bugs
Added lara.map
Added a few bug fixes and rviz visualization for map

IMPORTANT: Might not be working, stuff that was not committed for a
while
Merge branch 'master' of https://github.com/lara-unb/mobile_robotics