Merge pull request #1 from valeRB/master

Changed code to work for our robot instead of kobuki
Merge pull request #2 from valeRB/master

Updated code for pose estimation
Merge pull request #3 from valeRB/master

Added some comments about how to correct the angle
Merge pull request #4 from valeRB/master

Fixed a small issue with final angle
Merge pull request #6 from valeRB/master

Fixed wrong angle values
Merge pull request #1 from RoboGroup3/master

Odometry code update