Other SLAM Algorithms: CoreSLAM, Part 3

I've now got the build system working as well as fixing a number of parameter issues to be more ROS-compliant. Documentation for the package has been uploaded to http://www.ros.org/wiki/coreslam

Here's another example map created (of the first floor of a home):

Next up on the docket of winter break projects: some updates to the ArbotiX ROS package, and a number of people perception algorithms.