Tunes amcl.

Modifies several parameters of amcl in the amcl_diff launch file to
make it more robust. It is now more tolerant of map clutter (e.g.
furniture) and capable of recovering from wheel slipping.
Deleted outdoor planning params for abby.
Merge branch 'master' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg
Cleaned up nav config files and added comments.
Fixed LIDAR height in costmap config.
Latching xy goal tolerance in nav.
Added leading 0's to footprint specification.
Tweaked trajectory planner parameters.
Syntax fix on last commit.
Cutting max rotation velocity to 0.5 rad/sec.
Decreased path distance bias and published costmap.

Path planning costmap is now published as a point cloud.

Path distance bias is decreased from 10 to 1.2
Increased global costmap update to 2Hz
Improved kinect calibration utility.

Kinect calibration utility now does all calculations in /base_link frame,
making it easier to use.
Calibration utility now has two functions: floor height/angle detection
and wall detection.
Wall detection takes in LIDAR scans and Kinect point clouds and uses
RANSAC to find a wall. It then outputs TFs for the wall.

Neither of these functions have yet been tested, but they compile. Right
now, the node is hardcoded to run floor angle detection.

All further editing will be done on the robot for testing.
Merge branch 'master' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg
Kinect angle is now correct.

Kinect angle is set to ~51 degrees, which is accurate to less
than one degree, according to a plane fit of the floor from the
depth_registered point cloud.
Kinect calibration routine works for floor angle.

Still need to add in floor height, then wall calibration.
Fixes base_link height.

The base_link frame was hovering 11cm above the floor. This is now
fixed, and the kinect height is now correct to within 1.5cm.
Kinect calibration utility now works for floor height.

Floor TF now publishes at the correct height.

Still need to make wall calibration work. Still hardcoding mode
(floor vs wall).
Kinect position is now correct.

Vertical translation and pitch rotation are correct (see previous commits).
Horizontal position is correct; agrees with LIDAR to <1cm.
Kinect calibration node now works for wall calibration.

Node is still hard-coded for mode (currently in wall mode).
Source and build need to be renamed to reflect node name (kinect calibration
rather than kinect floor height).
Should make it do the math itself instead of just publishing TFs. This
could also include averaging.