Merge pull request #6 from bosch-ros-pkg/amcl_test

Pose updates for comparison
moved the distance threshold to pf_alloc function along with the other hard coded params
added error threshold to be configurable - also fixed some permission bugs
Merge branch 'bosch_robot_devel' into amcl_test
Merge branch 'amcl_test' into bosch_robot_devel
Merge pull request #7 from bosch-ros-pkg/amcl_test

Added invalid beam skip
merged in latest changes from ros-planning repo
missed one conflict
Merge pull request #9 from KaijenHsiao/merge_ros_planning

Merged in latest changes to the nav stack (needed for clearing sonar layer)
Merge branch 'bosch_robot_devel' of https://github.com/bosch-ros-pkg/navigation into bosch_robot_devel
resolved commit