Merge pull request #40 from mlosch/master

Fix odometry correction
Merge pull request #41 from mlosch/master

implement fitblob service (untested)
Merge remote-tracking branch 'upstream/master'
add backwards obstacle check
Placing nodes kind of works
Merge pull request #42 from tobiasandersson/master

update brain
add to start node trait
Merge remote-tracking branch 'upstream/master'