made it so the code runs on the first try
fixed launch file to point ot the right starter code
distances were incorrectly numpy arrays instead of floats
added a new helper function for particle resampling.  Also added some better header comments to some of the functions
added a simple example of occupancy grid mapping
uncommented out the visualization
fixed occupancy grid algorithm and added some sparse comments
added 1d particle filter
do mapping launch added
fixed laser joint name to match up with the actual neato
addd cropped map
Merge branch 'master' of https://github.com/paulruvolo/comprobo2014