add odometry calibration to minimize systematic error
write result to file
fix
incoporate corrected wheel diameters.
fix integration issues
comment out wheel diameter constant
Merge remote-tracking branch 'tobias/master'
merge brain
correct theta after each turn when a wall is nearby
add raycast service to map (takes in robot coordinates)
do additional position correction based on front wall if availbale.
debug 1
draw raycasts in rviz
increase raycast max length
Merge pull request #39 from mlosch/master

Online Odometry correction based on IR sensors.
merge