Merge branches 'master' and 'vision-object' of http://github.com/TheiaRobo/Theia into mapping
Created respective functions for rotating depending on the requirements

Bug for turning around
Some small details
Merge branch 'mapping' into mapping_theta
Added a corrected map that enlarges every occupied cell by the size of the robot. The map now starts as having 'Unreachable' cells everywhere, that are replaced by empty, occupied or unexplored maps. Possibly buggy, but rviz doesn't distinguish between grayscales... Added a brain. Renamed control_logic to wall_follower.