Merge pull request #5 from SquadCollaborativeRobotics/sam

Sam
Merge branch 'sam' into navstack

Conflicts:
	src/OdometryBroadcaster.cpp
Removed 3 vars
commit before merge
Merged sam and navstack finished
Merge pull request #6 from SquadCollaborativeRobotics/navstack

Navstack
moved last time
Using cleaned up map amcl