set raycast hit point
fix heading bug
fix theta correction when wall on left side
remove debug outputs
Merge remote-tracking branch 'upstream/master'
Merge pull request #40 from mlosch/master

Fix odometry correction
implement fitblob service (untested)
Merge pull request #41 from mlosch/master

implement fitblob service (untested)
Merge remote-tracking branch 'upstream/master'
add backwards obstacle check