Fixed a mistake in the pShort calculation of the sensor model
Added the learned sensor parameters to the multisense_sensor_model package
Now incrementing and decrementing the occupancy likelihood of each cell
to mimic the inverse sensor model described in the book. Considering
learning the inverse sensor model, but for now I'm going to stick with
just the manual approximation.
Fixed a race condition in the laser callback
Map will only be published when it changes and at most 10 times a second
Added parameters that control the origin location of the map
Moved the ground plane closer to the road so that there isn't as large of a bump when moving between the two.