fix catkinization + building with -std=c++11
cleanup some of the files

remove trailing spaces
join some unnecessary split lines
remove some empty lines
allow setting the number of particles in the constructor
working particle_filter
use more sensible defaults

(at least for AwesomeWM xD )
allow setting the #particles with an argument
move PRNG to a member variable
use uniform_real_distribution

instead of (double) rand() / RAND_MAX hack
initialize particles with normal distribution

position them around the center of the map
reduce random walk speed
lots of stuff

use distance and yaw in motion model
multiply probs in sensor model
use valarray instead of vector for weights
do the wheel resampling