Merge pull request #2 from JohanJohansson/master

Updates from Johan
Added rosbag to test /robot_turn topic
Merge pull request #3 from valeRB/master

Added rosbag to test /robot_turn topic
Merge pull request #2 from RoboGroup3/master

Added rostopic to detect when a turn is happening
Implemented a way of mapping
Merge pull request #4 from valeRB/master

Added a mapping that has less noise when turning
Merge pull request #3 from RoboGroup3/master

Updates from Valeria