Added some convenience stuff and fixed some Kalman filter on BeachBot issues
- locate node now waits if no /scan topic is published
- if the robot moves during pole initialization it restarts the process
- converted Kalman filter stuff from simulated data to real BeachBot data
Fixed some bugs, discovered during outdoor testing
- fixed poles being mapped due to random high intensity reflections
- tuned covariance paramater to get smoother results
Added service to enable remote localization initialization
Adapted fake_scan to work with new odometry
Small fixes for fake_scan
Added output simulator
Changed condition when to accept new pole values
Added config option to not use odometry
Changed MinimizeScans to use highest intensity point in vincinity except for average of all points
Localization only with laser works fine. Either odometry implementation bad or prediction kalman step shiat
Added support for prediction without odometry. Corrected some inaccuracies.
Merge branch 'master' of github.com:asl-beachbot/localization into experimental
blablub
asd
asd
Added correction for laser error due to moving
Fixed error in pose prediction when going from theta +pi -> -pi
Performance improvements
Added time scale for Kalman prediction step
Implemented filter on laser data