Fixed a mistake in the pShort calculation of the sensor model
Added the learned sensor parameters to the multisense_sensor_model package
Now incrementing and decrementing the occupancy likelihood of each cell
to mimic the inverse sensor model described in the book. Considering
learning the inverse sensor model, but for now I'm going to stick with
just the manual approximation.
Fixed a race condition in the laser callback
Map will only be published when it changes and at most 10 times a second
Added parameters that control the origin location of the map
Moved the ground plane closer to the road so that there isn't as large of a bump when moving between the two.
Changed the mapping prior and the probability of being occupied
Added 2 new worlds. Both are the same rooms, but one is empty and one
has various objects
printing the resolution, size and origin that the map creator will be
using.
Created maps for each of the existing worlds.
Renamed the one map and fixed the yaml file in two of the maps
Now the cylbot launch file has an option that will launch the map server
with the map having the same name as the world