refactor
update recognition strategy
turn to unknown dir after follow path
merge
add TransformPoint service and support to activate/deactivate map updating
Merge remote-tracking branch 'tobias/master'
merge
Merge remote-tracking branch 'upstream/master'
Merge remote-tracking branch 'tobias/master'
fix bugs
couple more fixes
add crash logic
add missing return statement. Also catch div by 0 errors.
Merge remote-tracking branch 'max/master'
Merge remote-tracking branch 'tobias/master'
add imu in launch file