Outline for a particle and judging probability
Merge branch 'master' into localization

Conflicts:
	CMakeLists.txt
	src/turtlebot_example.cpp
Make some particles and draw them
Get the particals mimicing the robot's motions
Have basic particle filter working without vision
Particle TODO's
Add noise to the sensor model
Merge branch 'master' into localization
Tune the filter