Cleaned up code. Split locate.cpp into different files for clarity.
Last working commit with cleaned up code and old localization method.
Started Kalman filter implementation. Prediction based on Odometry works.
Implemented complete Kalman filter. Working. Some tuning on paramters needed.
Some fixes on the Kalman filter. Works without Odometry.
-Added support for pioneer odometry.
-Made Kalman filter more robust for cases when not all data is available
-included correction for pole radius
-added node to easily check for a visible pole
added yaml configuration file for some paramters
Corrected error influence of robot tilt.
-added support for tf for laser
Fixed odometry for Pioneer robot
-added beach_map message and publisher, publishing position of poles and pose of basestation once after initialization
- Added ability to start initiation remotely
- cleaned up the ROS_INFO mess
- adapted localization to new state message
- changed some things to adapt localization to beachbot
- made changes to odometry prediction
- fixed error in odometry kalman filter update
- localization working except for calibration of covariance matrices
Merge branch 'master' of github.com:asl-beachbot/laser_loc