Found ok parameter for k_th (100)
Reverted to averaging points when grouping them
Now using imu to correct rotating laser error
Corrected tf laser_frame to be the actual laser frame, not the robot frame
Pushing for desktop to catch up
Output simulator now publishes beach_map
Covariance for laser measurements is correcter.
Forgot a factor 0.5 in f_u calculation during prediction step
Forgot abs() in odom error matrix
Merge branch 'experimental' into localization

Conflicts:
	src/locate.cpp