Created a package to implement the motion model of the particle filter

Currently have a small test program that takes an initial pose from
RVIZ and generates a pose array based on that and the covariance
of a multivariate Gaussian.
Created a program that samples the motion model for the point cloud
and updates the pose array arrows in RVIZ in real time.
Now publishing the linear and angular velocity as a stamped twist message

The package dependencies are a bit messy, but its good enough for this
project.
Particles are now updating according to motion model. Now I need
to integrate this example with the sensor model