From 7821b2d64b51bf95e85e4c6cf2788209355d6fb5 Mon Sep 17 00:00:00 2001
From: Niklas Yann Wettengel <niyawe@uni-koblenz.de>
Date: Thu, 3 Nov 2016 22:28:57 +0100
Subject: [PATCH] Trimmed the branch to only the homer_navigation sub directory

---
 .../CHANGELOG.rst => CHANGELOG.rst            |    0
 .../CMakeLists.txt => CMakeLists.txt          |    0
 README.md                                     |   84 +-
 .../config => config}/homer_navigation.yaml   |    0
 .../homer_navigation_pioneer.yaml             |    0
 homer_map_manager/CHANGELOG.rst               |    9 -
 homer_map_manager/CMakeLists.txt              |   74 -
 homer_map_manager/README.md                   |   42 -
 homer_map_manager/images/rosgraph.png         |  Bin 676331 -> 0 bytes
 homer_map_manager/images/rosgraph.svg         | 3607 -----------------
 .../homer_map_manager/Managers/MapManager.h   |  109 -
 .../Managers/MaskingManager.h                 |   53 -
 .../homer_map_manager/Managers/PoiManager.h   |   89 -
 .../homer_map_manager/Managers/RoiManager.h   |  127 -
 .../homer_map_manager/MapIO/image_loader.h    |   60 -
 .../homer_map_manager/MapIO/map_loader.h      |   79 -
 .../homer_map_manager/MapIO/map_saver.h       |   65 -
 .../Workers/PointOfInterest/PointOfInterest.h |  184 -
 .../homer_map_manager/map_manager_node.h      |  175 -
 homer_map_manager/mainpage.dox                |   14 -
 homer_map_manager/manifest.xml                |   22 -
 homer_map_manager/package.xml                 |   38 -
 homer_map_manager/readme.pdf                  |  Bin 631990 -> 0 bytes
 homer_map_manager/src/Managers/MapManager.cpp |  228 --
 .../src/Managers/MaskingManager.cpp           |  185 -
 homer_map_manager/src/Managers/PoiManager.cpp |  138 -
 homer_map_manager/src/Managers/RoiManager.cpp |  258 --
 homer_map_manager/src/MapIO/image_loader.cpp  |  134 -
 homer_map_manager/src/MapIO/map_loader.cpp    |  275 --
 homer_map_manager/src/MapIO/map_saver.cpp     |  189 -
 .../Workers/PointOfInterest/CMakeLists.txt    |    5 -
 homer_map_manager/src/map_manager_node.cpp    |  419 --
 homer_mapnav_msgs/CHANGELOG.rst               |    9 -
 homer_mapnav_msgs/CMakeLists.txt              |   33 -
 homer_mapnav_msgs/README.md                   |  244 --
 homer_mapnav_msgs/msg/MapLayers.msg           |   10 -
 homer_mapnav_msgs/msg/ModifyMap.msg           |   21 -
 homer_mapnav_msgs/msg/ModifyPOI.msg           |    2 -
 homer_mapnav_msgs/msg/NavigateToPOI.msg       |    3 -
 homer_mapnav_msgs/msg/PointOfInterest.msg     |   13 -
 homer_mapnav_msgs/msg/PointsOfInterest.msg    |    1 -
 homer_mapnav_msgs/msg/RegionOfInterest.msg    |   12 -
 homer_mapnav_msgs/msg/RegionsOfInterest.msg   |    1 -
 homer_mapnav_msgs/msg/RoiChange.msg           |    3 -
 homer_mapnav_msgs/msg/StartNavigation.msg     |    4 -
 homer_mapnav_msgs/msg/TargetUnreachable.msg   |    9 -
 homer_mapnav_msgs/package.xml                 |   22 -
 homer_mapnav_msgs/readme.pdf                  |  Bin 121801 -> 0 bytes
 homer_mapnav_msgs/srv/GetPointsOfInterest.srv |    2 -
 .../srv/GetRegionOfInterestName.srv           |    3 -
 .../srv/GetRegionsOfInterest.srv              |    2 -
 homer_mapnav_msgs/srv/LoadMap.srv             |    2 -
 homer_mapnav_msgs/srv/PointInsideRois.srv     |    3 -
 homer_mapnav_msgs/srv/SaveMap.srv             |    2 -
 homer_mapping/CHANGELOG.rst                   |    9 -
 homer_mapping/CMakeLists.txt                  |   91 -
 homer_mapping/README.md                       |   67 -
 homer_mapping/config/homer_mapping.yaml       |   34 -
 .../homer_mapping/OccupancyMap/OccupancyMap.h |  385 --
 .../ParticleFilter/HyperSlamFilter.h          |  163 -
 .../homer_mapping/ParticleFilter/Particle.h   |   64 -
 .../ParticleFilter/ParticleFilter.h           |  320 --
 .../homer_mapping/ParticleFilter/SlamFilter.h |  327 --
 .../ParticleFilter/SlamParticle.h             |   72 -
 .../include/homer_mapping/slam_node.h         |  186 -
 homer_mapping/launch/homer_mapping.launch     |    5 -
 homer_mapping/mainpage.dox                    |   26 -
 homer_mapping/manifest.xml                    |   23 -
 homer_mapping/package.xml                     |   34 -
 homer_mapping/readme.pdf                      |  Bin 113506 -> 0 bytes
 homer_mapping/src/CMakeLists.txt              |    2 -
 .../src/OccupancyMap/OccupancyMap.cpp         |  977 -----
 .../src/ParticleFilter/HyperSlamFilter.cpp    |  202 -
 homer_mapping/src/ParticleFilter/Particle.cpp |   10 -
 .../src/ParticleFilter/SlamFilter.cpp         |  662 ---
 .../src/ParticleFilter/SlamParticle.cpp       |   30 -
 homer_mapping/src/slam_node.cpp               |  387 --
 homer_nav_libs/CHANGELOG.rst                  |    9 -
 homer_nav_libs/CMakeLists.txt                 |   44 -
 homer_nav_libs/README.md                      |   13 -
 .../homer_nav_libs/Explorer/Explorer.h        |  359 --
 .../include/homer_nav_libs/Explorer/GridMap.h |  575 ---
 .../include/homer_nav_libs/Math/Box2D.h       |  184 -
 .../include/homer_nav_libs/Math/Line2D.h      |  223 -
 .../include/homer_nav_libs/Math/Math.h        |  129 -
 .../include/homer_nav_libs/Math/Pixel.h       |   59 -
 .../include/homer_nav_libs/Math/Point2D.h     |  312 --
 .../include/homer_nav_libs/Math/Pose.h        |   72 -
 .../homer_nav_libs/Math/Transformation2D.h    |  143 -
 .../include/homer_nav_libs/Math/mat2.h        |   77 -
 .../include/homer_nav_libs/Math/mat2_inl.h    |   86 -
 .../include/homer_nav_libs/Math/vec2.h        |  189 -
 homer_nav_libs/include/homer_nav_libs/tools.h |  396 --
 homer_nav_libs/package.xml                    |   23 -
 homer_nav_libs/readme.pdf                     |  Bin 79468 -> 0 bytes
 homer_nav_libs/src/Explorer/Explorer.cpp      | 1408 -------
 homer_nav_libs/src/Math/Line2D.cpp            |   99 -
 homer_nav_libs/src/Math/Math.cpp              |  135 -
 homer_nav_libs/src/Math/Point2D.cpp           |   33 -
 homer_nav_libs/src/Math/Pose.cpp              |  117 -
 homer_nav_libs/src/Math/Transformation2D.cpp  |  308 --
 .../src/SpeedControl/CMakeLists.txt           |    5 -
 .../src/SpeedControl/SpeedControl.cpp         |  177 -
 .../src/SpeedControl/SpeedControl.h           |   71 -
 homer_navigation/README.md                    |   76 -
 .../homer_navigation/homer_navigation_node.h  |    0
 .../launch => launch}/homer_navigation.launch |    0
 .../homer_navigation_pioneer.launch           |    0
 homer_navigation/package.xml => package.xml   |    0
 homer_navigation/readme.pdf => readme.pdf     |  Bin
 .../src => src}/homer_navigation_node.cpp     |    0
 111 files changed, 72 insertions(+), 16389 deletions(-)
 rename homer_navigation/CHANGELOG.rst => CHANGELOG.rst (100%)
 rename homer_navigation/CMakeLists.txt => CMakeLists.txt (100%)
 rename {homer_navigation/config => config}/homer_navigation.yaml (100%)
 rename {homer_navigation/config => config}/homer_navigation_pioneer.yaml (100%)
 delete mode 100644 homer_map_manager/CHANGELOG.rst
 delete mode 100644 homer_map_manager/CMakeLists.txt
 delete mode 100644 homer_map_manager/README.md
 delete mode 100644 homer_map_manager/images/rosgraph.png
 delete mode 100644 homer_map_manager/images/rosgraph.svg
 delete mode 100644 homer_map_manager/include/homer_map_manager/Managers/MapManager.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/Managers/MaskingManager.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/Managers/PoiManager.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/Managers/RoiManager.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/MapIO/image_loader.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/MapIO/map_loader.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/MapIO/map_saver.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/Workers/PointOfInterest/PointOfInterest.h
 delete mode 100644 homer_map_manager/include/homer_map_manager/map_manager_node.h
 delete mode 100644 homer_map_manager/mainpage.dox
 delete mode 100644 homer_map_manager/manifest.xml
 delete mode 100644 homer_map_manager/package.xml
 delete mode 100644 homer_map_manager/readme.pdf
 delete mode 100644 homer_map_manager/src/Managers/MapManager.cpp
 delete mode 100644 homer_map_manager/src/Managers/MaskingManager.cpp
 delete mode 100644 homer_map_manager/src/Managers/PoiManager.cpp
 delete mode 100644 homer_map_manager/src/Managers/RoiManager.cpp
 delete mode 100644 homer_map_manager/src/MapIO/image_loader.cpp
 delete mode 100644 homer_map_manager/src/MapIO/map_loader.cpp
 delete mode 100644 homer_map_manager/src/MapIO/map_saver.cpp
 delete mode 100644 homer_map_manager/src/Workers/PointOfInterest/CMakeLists.txt
 delete mode 100644 homer_map_manager/src/map_manager_node.cpp
 delete mode 100644 homer_mapnav_msgs/CHANGELOG.rst
 delete mode 100644 homer_mapnav_msgs/CMakeLists.txt
 delete mode 100644 homer_mapnav_msgs/README.md
 delete mode 100644 homer_mapnav_msgs/msg/MapLayers.msg
 delete mode 100644 homer_mapnav_msgs/msg/ModifyMap.msg
 delete mode 100644 homer_mapnav_msgs/msg/ModifyPOI.msg
 delete mode 100644 homer_mapnav_msgs/msg/NavigateToPOI.msg
 delete mode 100644 homer_mapnav_msgs/msg/PointOfInterest.msg
 delete mode 100644 homer_mapnav_msgs/msg/PointsOfInterest.msg
 delete mode 100644 homer_mapnav_msgs/msg/RegionOfInterest.msg
 delete mode 100644 homer_mapnav_msgs/msg/RegionsOfInterest.msg
 delete mode 100644 homer_mapnav_msgs/msg/RoiChange.msg
 delete mode 100644 homer_mapnav_msgs/msg/StartNavigation.msg
 delete mode 100644 homer_mapnav_msgs/msg/TargetUnreachable.msg
 delete mode 100644 homer_mapnav_msgs/package.xml
 delete mode 100644 homer_mapnav_msgs/readme.pdf
 delete mode 100644 homer_mapnav_msgs/srv/GetPointsOfInterest.srv
 delete mode 100644 homer_mapnav_msgs/srv/GetRegionOfInterestName.srv
 delete mode 100644 homer_mapnav_msgs/srv/GetRegionsOfInterest.srv
 delete mode 100644 homer_mapnav_msgs/srv/LoadMap.srv
 delete mode 100644 homer_mapnav_msgs/srv/PointInsideRois.srv
 delete mode 100644 homer_mapnav_msgs/srv/SaveMap.srv
 delete mode 100644 homer_mapping/CHANGELOG.rst
 delete mode 100644 homer_mapping/CMakeLists.txt
 delete mode 100644 homer_mapping/README.md
 delete mode 100644 homer_mapping/config/homer_mapping.yaml
 delete mode 100644 homer_mapping/include/homer_mapping/OccupancyMap/OccupancyMap.h
 delete mode 100755 homer_mapping/include/homer_mapping/ParticleFilter/HyperSlamFilter.h
 delete mode 100644 homer_mapping/include/homer_mapping/ParticleFilter/Particle.h
 delete mode 100644 homer_mapping/include/homer_mapping/ParticleFilter/ParticleFilter.h
 delete mode 100644 homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h
 delete mode 100644 homer_mapping/include/homer_mapping/ParticleFilter/SlamParticle.h
 delete mode 100644 homer_mapping/include/homer_mapping/slam_node.h
 delete mode 100644 homer_mapping/launch/homer_mapping.launch
 delete mode 100644 homer_mapping/mainpage.dox
 delete mode 100644 homer_mapping/manifest.xml
 delete mode 100644 homer_mapping/package.xml
 delete mode 100644 homer_mapping/readme.pdf
 delete mode 100644 homer_mapping/src/CMakeLists.txt
 delete mode 100644 homer_mapping/src/OccupancyMap/OccupancyMap.cpp
 delete mode 100755 homer_mapping/src/ParticleFilter/HyperSlamFilter.cpp
 delete mode 100644 homer_mapping/src/ParticleFilter/Particle.cpp
 delete mode 100644 homer_mapping/src/ParticleFilter/SlamFilter.cpp
 delete mode 100644 homer_mapping/src/ParticleFilter/SlamParticle.cpp
 delete mode 100644 homer_mapping/src/slam_node.cpp
 delete mode 100644 homer_nav_libs/CHANGELOG.rst
 delete mode 100644 homer_nav_libs/CMakeLists.txt
 delete mode 100644 homer_nav_libs/README.md
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Explorer/Explorer.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Explorer/GridMap.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/Box2D.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/Line2D.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/Math.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/Pixel.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/Point2D.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/Pose.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/Transformation2D.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/mat2.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/mat2_inl.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/Math/vec2.h
 delete mode 100644 homer_nav_libs/include/homer_nav_libs/tools.h
 delete mode 100644 homer_nav_libs/package.xml
 delete mode 100644 homer_nav_libs/readme.pdf
 delete mode 100644 homer_nav_libs/src/Explorer/Explorer.cpp
 delete mode 100644 homer_nav_libs/src/Math/Line2D.cpp
 delete mode 100644 homer_nav_libs/src/Math/Math.cpp
 delete mode 100644 homer_nav_libs/src/Math/Point2D.cpp
 delete mode 100644 homer_nav_libs/src/Math/Pose.cpp
 delete mode 100644 homer_nav_libs/src/Math/Transformation2D.cpp
 delete mode 100644 homer_nav_libs/src/SpeedControl/CMakeLists.txt
 delete mode 100644 homer_nav_libs/src/SpeedControl/SpeedControl.cpp
 delete mode 100644 homer_nav_libs/src/SpeedControl/SpeedControl.h
 delete mode 100644 homer_navigation/README.md
 rename {homer_navigation/include => include}/homer_navigation/homer_navigation_node.h (100%)
 rename {homer_navigation/launch => launch}/homer_navigation.launch (100%)
 rename {homer_navigation/launch => launch}/homer_navigation_pioneer.launch (100%)
 rename homer_navigation/package.xml => package.xml (100%)
 rename homer_navigation/readme.pdf => readme.pdf (100%)
 rename {homer_navigation/src => src}/homer_navigation_node.cpp (100%)

diff --git a/homer_navigation/CHANGELOG.rst b/CHANGELOG.rst
similarity index 100%
rename from homer_navigation/CHANGELOG.rst
rename to CHANGELOG.rst
diff --git a/homer_navigation/CMakeLists.txt b/CMakeLists.txt
similarity index 100%
rename from homer_navigation/CMakeLists.txt
rename to CMakeLists.txt
diff --git a/README.md b/README.md
index 4443d398..01fa1271 100644
--- a/README.md
+++ b/README.md
@@ -1,16 +1,76 @@
-# mapping
+# homer_navigation
 
-See:
+## Introduction 
 
-* [mapping]
-* [navigation]
-* [map_manager]
-* [map_msgs]
-* [nav_libs]
+Das Package "homer_navigation" mit seiner gleichnamigen Node ist für die Navigation des Roboters zuständig. Es hält stets die aktuelle Karte des Roboters vor, die auf Topic /map empfangen wurde und berechnet anhand von dieser Karte einen Pfad vom Roboter zu einem gegebenen Zielpunkt. Dafür verwendet die Navigation die sogenannte Pfad-Transformation - eine Kombination aus Distanz-Transformation und Hindernistransformation -, in Verbindung mit A-Stern, um einen optimalen Pfad zu finden. Das Verhältnis zwischen Distanz- und Hindernis-Transformation kann über einen Parameter angepasst werden.
+Nach der Pfadberechnung ist das Package außerdem dafür zuständig den Roboter diesen Pfad zum Ziel abfahren zu lassen.
 
-[mapping]: homer_mapping/README.md
-[navigation]: homer_navigation/README.md
-[map_manager]: map_manager/README.md
-[map_msgs]: map_msgs/README.md
-[nav_libs]: nav_libs/README.md
+## Topics 
 
+#### Publisher 
+* `/homer_navigation/target_reached (std_msgs/String)`: Wenn der Roboter sein Ziel erreicht hat, wird eine Message über dieses Topic veschickt.
+* `/homer_navigation/target_unreachable (mapnav_msgs/TargetUnreachable)`: Über dieses Topic wird mitgeteilt, wenn der Roboter sein Ziel nicht erreichen kann und die Navigation abgebrochen wurde. Ein Statuscode wird mitgeliefert (siehe Package map_messages).
+* `/homer_navigation/path (nav_msgs/Path)`: Hierüber wird der aktuelle Pfad zur Visualisierung an die GUI geschickt.
+* `/robot_platform/cmd_vel (geometry_msgs/Twist)`: Über dieses Topic werden die aktuellen Fahrbefehle zum Roboter geschickt. 
+* `/ptu/set_pan_tilt (ptu/SetPanTilt)`: Über dieses Topic wird die PTU nach navigation auf  0, 0 gefahren.
+* `/ptu/center_world_point (ptu/CenterWorldPoint)`: Über dieses Topic wird die PTU auf den nächsten Wegpunkt centriert.
+
+#### Subscriber
+* `/map (nav_msgs/OccupancyGrid)`: Die jeweils aktuelle Map wird empfangen, um sie für die Pfadplanung und Hindernisvermeidung während der Navigation zu verwenden.
+* `/pose (geometry_msgs/PoseStamped)`: Die aktuelle Pose des Roboters wird als Startpunkt der Pfadplanung verwendet.
+* `/scan (sensor_msgs/LaserScan)`: Der aktuelle LaserScan wird zur Hindernisvermeidung verwendet.
+* `/front_scan (sensor_msgs/LaserScan)`: Der aktuelle LaserScan wird zur Hindernisvermeidung verwendet.
+* `/homer_navigation/start_navigation (mapnav_msgs/StartNavigation)`: Startet die Pfadplanung und anschließend die Navigation zur mitgelieferten Zielpose.
+* `/move_base_simple/goal (geometry_msgs/PoseStamped)`: Started die Pfadplanung und anschließende Navigation zur Zielpose.
+* `/homer_navigation/stop_navigation (std_msgs/Empty)`: Stoppt die aktuelle Navigation.
+* `/homer_navigation/navigate_to_POI (mapnav_msgs/NavigateToPOI)`: Startet die Pfadplanung und anschließend die Navigation zum POI mit angegebenen Namen. Der entsprechende POI wird anschließend vom map_manager erfragt.
+* `/homer_navigation/unknown_threshold (std_msgs/Int8)`: Über dieses Topic kann der Schwellwert verändert werden, ab dem ein Zellwahrscheinlichkeit als belegt und damit unbefahrbar markiert wird. Standard ist 50 (%).
+* `/homer_navigation/refresh_params (std_msgs/Empty)`: Über dieses Topic lassen sich die Parameter neu auslesen.
+* `/homer_navigation/max_depth_move_distance (std_msgs/Float32)`: Über dieses Topic lässt sich die Hindernissdistance der Tiefendaten übermitteln. 
+
+## Launch Files 
+
+* `homer_navigation.launch:` Startet die Navigation und lädt alle Navigations-Paramter in den Parameterserver.
+
+## Parameter 
+
+
+### homer_navigation
+* `/homer_navigation/safe_path_weight:`               1.2  # factor weight for safer path in relation to shortest path
+* `/homer_navigation/waypoint_sampling_threshold:`    1.5  # factor of how dense the path waypoints are sampled regarding the obstacle_distance of the last or next waypoint 
+* `/homer_navigation/frontier_safeness_factor:`       1.4  # factor of min_allowed_obstacle_distance to an obstacle of a cell which is considered safe
+
+### cost calculation parameters
+* `/homer_navigation/allowed_obstacle_distance/min:`  0.3  # m robot must stay further away than this from obstacles
+* `/homer_navigation/allowed_obstacle_distance/max:`  5.0  # m not used at the moment
+* `/homer_navigation/safe_obstacle_distance/min:`     0.7  # m if possible robot should move further away than this from obstacles
+* `/homer_navigation/safe_obstacle_distance/max:`     1.5  # m further away than this from obstacles doesn't give a lesser cost addition
+
+### collision Avoidance parameters
+* `/homer_navigation/collision_distance:`             0.3  # m distance to obstacle from robotFront in which the obstacle avoidance will be executed
+* `/homer_navigation/collision_distance_near_target:` 0.2  # m distance to obstacle from robotFront where obstacle avoidance won't be executed when near the target
+* `/homer_navigation/backward_collision_distance:`    0.5  # m distance behind robot in which the robot won't back up into while doing collision avoidance 
+* `/homer_navigation/min_y:`                          0.27 # m half robot width for max_move_distance calculation 
+* `/homer_navigation/min_x:`                          0.3  # m distance from base_link to robot front for max_move_distance calculation 
+
+### check path on map update
+* `/homer_navigation/check_path:`                     true # bool toggles if the calculated path will be checked for obstacles while navigating
+* `/homer_navigation/check_path_max_distance:`        2    # m maximal distance from robot position in which the path is being checked for obstacles
+
+### speed parameters
+* `/homer_navigation/min_turn_angle:`                 0.15 # rad values lower than this angle will let the navigation assume reaching the designated position   
+* `/homer_navigation/max_turn_speed:`                 0.6  # rad/s max turn velocity the navigation can send
+* `/homer_navigation/min_turn_speed:`                 0.3  # rad/s min turn speed for Final Turn so the Robot doesn't stop turning
+* `/homer_navigation/max_drive_angle:`                0.6  # rad threshold for driving and turning - if above that value only turn
+
+* `/homer_navigation/max_move_speed:`                 0.4  # m/s   max move speed the navigation can send
+
+### caution factors values near 0 mean high caution values greater values mean less caution
+### if any factor equals 0 the robot can't follow paths !!
+* `/homer_navigation/map_speed_factor:`               1.2  # factor for the max speed calculation of the obstacleDistancemap
+* `/homer_navigation/waypoint_speed_factor:`          1.2  # factor for the max speed calculation with the distance to the next waypoint
+* `/homer_navigation/obstacle_speed_factor:`          1.0  # factor for the max speed calculation with the last laser may movement distance
+
+* `/homer_navigation/callback_error_duration:`        0.3  # s max duration between pose and laser callbacks before error handling is executed
+
+* `/homer_navigation/use_ptu:` 				          false# bool toggles if the ptu is being used to look at the next Waypoint during navigation
diff --git a/homer_navigation/config/homer_navigation.yaml b/config/homer_navigation.yaml
similarity index 100%
rename from homer_navigation/config/homer_navigation.yaml
rename to config/homer_navigation.yaml
diff --git a/homer_navigation/config/homer_navigation_pioneer.yaml b/config/homer_navigation_pioneer.yaml
similarity index 100%
rename from homer_navigation/config/homer_navigation_pioneer.yaml
rename to config/homer_navigation_pioneer.yaml
diff --git a/homer_map_manager/CHANGELOG.rst b/homer_map_manager/CHANGELOG.rst
deleted file mode 100644
index 755d8597..00000000
--- a/homer_map_manager/CHANGELOG.rst
+++ /dev/null
@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package homer_map_manager
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-11-03)
-------------------
-* fixes
-* initial commit
-* Contributors: Niklas Yann Wettengel
diff --git a/homer_map_manager/CMakeLists.txt b/homer_map_manager/CMakeLists.txt
deleted file mode 100644
index c659d0ab..00000000
--- a/homer_map_manager/CMakeLists.txt
+++ /dev/null
@@ -1,74 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(homer_map_manager)
-
-find_package(catkin REQUIRED COMPONENTS roscpp roslib tf homer_mapnav_msgs homer_nav_libs cmake_modules std_srvs)
-
-find_package( Eigen3 REQUIRED )
-
-find_package(OpenMP)
-if (OPENMP_FOUND)
-    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-endif()
-
-include_directories(
-	include
-	${catkin_INCLUDE_DIRS}
-	${EIGEN3_INCLUDE_DIRS}
-)
-
-set(Managers_SRC
-	src/Managers/MapManager.cpp
-	src/Managers/MaskingManager.cpp
-	src/Managers/PoiManager.cpp
-	src/Managers/RoiManager.cpp
-)
-
-add_library(homerManagers ${Managers_SRC})
-target_link_libraries(homerManagers homerImage_io)
-add_dependencies(homerManagers ${catkin_EXPORTED_TARGETS})
-
-
-add_library(homerImage_io
-	src/MapIO/image_loader.cpp
-	src/MapIO/map_saver.cpp
-	src/MapIO/map_loader.cpp
-)
-target_link_libraries(homerImage_io SDL SDL_image yaml-cpp)
-add_dependencies(homerImage_io ${catkin_EXPORTED_TARGETS})
-
-catkin_package(
-	INCLUDE_DIRS include
-	CATKIN_DEPENDS
-		roscpp
-		roslib
-		tf
-		homer_mapnav_msgs
-		homer_nav_libs
-		std_srvs
-	LIBRARIES homerImage_io homerManagers
-)
-
-add_executable(map_manager src/map_manager_node.cpp)
-
-target_link_libraries(
-	map_manager
-		${catkin_LIBRARIES}
-		homerManagers
-		homerImage_io
-)
-
-add_dependencies(
-	map_manager
-		${catkin_EXPORTED_TARGETS}
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-
-install(TARGETS homerManagers homerImage_io map_manager
-	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
diff --git a/homer_map_manager/README.md b/homer_map_manager/README.md
deleted file mode 100644
index 39a46914..00000000
--- a/homer_map_manager/README.md
+++ /dev/null
@@ -1,42 +0,0 @@
-# map_manager
-
-## Known Issues / Todo's 
-
-Aus bisher ungeklärten Gründen kann es in seltenen Fällen passieren, dass der map_manager die Verbindung zum roscore verliert. In diesem Fall muss er durch rosrun map_manager map_manager neugestartet werden.
-
-
-## Introduction 
-
-Der map_manager ist der Mittelpunkt der Kommunikation zwischen homer_mapping, homer_navigation, GUI und die Spiel-Nodes.
-Das Zusammenspiel dieser Nodes ist im Screenshot des rqt_graphs zu sehen.
-
-![rqt_graph](images/rosgraph.png)
-
-Er verwaltet die aktuell durch das mapping erstellte Karte sowie weitere Kartebenen. Aktuell sind das die SLAM-Karte, die aktuellen Laserdaten in einer weiteren Ebene und eine Masking-Ebene, in der mit Hilfe der GUI Hindernisse oder freie Flächen in die Karte gezeichnet werden können.
-Jedes mal, wenn eine SLAM-Karte von der mapping-Node geschickt wird, wird diese mit allen anderen Karteneben überschrieben (in der Reihenfolge SLAM, Masking, Laserdaten) und als eine zusammengefügte Karte versendet.
-Zudem verwaltet der map_manager alle erstellten Points Of Interest (POIs), die z.B. als Ziele für die Navigation verwendet werden.
-Die Node ist außerdem zuständig für das Speichern und Laden der Kartenebenen und der POIs. Dabei wird die SLAM-Ebene sowie die Masking-Ebene berücksichtigt.
-
-
-
-## Topics 
-
-
-#### Publisher 
-* `/map`: Die aktuelle Karte, die aus allen aktivierten Kartenebenen zusammengesetzt ist. Diese wird in der GUI angezeigt und für die Navigation verwendet.
-* `/map_manager/poi_list`: Verschickt einen Vektor mit allen aktuellen POIs. Dieser Publisher wird immer ausgelöst, sobald sich ein POI ändert oder ein neuer hinzugefügt wird.
-* `/map_manager/loaded_map`: Wenn eine Karte geladen wird, wird über dieses Topic die geladene SLAM-Ebene an die homer_mapping-Node verschickt.
-* `/map_manager/mask_slam`: Über die GUI kann die SLAM-Map verändert werden. Diese Modifizierungen werden über dieses Topic vom map_manager an das homer_mapping versendet.
-
-#### Subscriber
-
-* `/homer_mapping/slam_map (nav_msgs/OccupancyGrid)`: Hierüber wird die aktuelle SLAM-Map empfangen.
-* `/map_manager/save_map (map_messages/SaveMap)`: Hierüber wird der Befehl zum Speichern der Karte inklusive des Dateinamens empfangen.
-* `/map_manager/load_map (map_messages/SaveMap)`: Hiermit wird eine Karte geladen und alle bisherigen Kartenebenen durch die geladenen ersetzt.
-* `/map_manager/toggle_map_visibility (map_messages/MapLayers)`: Hierüber können einzelne Kartenebenen aktiviert beziehungsweise deaktiviert werden. Deaktivierte werden nicht mehr beim Zusammenfügen der Karte berücksichtigt und dementsprechend auch nicht in der GUI angezeigt sowie für die Navigation verwendet.
-* `/scan (nav_msgs/LaserScan)`: Der aktuelle Laserscan, der in die Laserscan-Ebene gezeichnet wird.
-* `/map_manager/add_POI (map_messages/PointOfInterest)`: Hierüber kann ein POI hinzugefügt werden.
-* `/map_manager/modify_POI (map_messages/ModifyPOI)`: Hierüber kann ein vorhandener POI verändert werden (Name, Position,...)
-* `/map_manager/delete_POI (map_messages/DeletePointOfInterest)`: Hierüber kann ein vorhander POI gelöscht werden.
-* `/map_manager/modify_map (map_messages/ModifyMap)`: Über dieses Topic werden die Koordinaten der Polygone verschickt, die über die GUI maskiert wurden. Außerdem wird die Kartenebene mitgeteilt, die verändet werden soll (SLAM oder Masking-Ebene).
-* `/map_manager/reset_maps (std_msgs/Empty)`: Hierüber werden alle Kartenebenen zurückgesetzt.
\ No newline at end of file
diff --git a/homer_map_manager/images/rosgraph.png b/homer_map_manager/images/rosgraph.png
deleted file mode 100644
index d1d9f2221cd94165784f358d2af8609390b866ee..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/homer_map_manager/include/homer_map_manager/Managers/MapManager.h b/homer_map_manager/include/homer_map_manager/Managers/MapManager.h
deleted file mode 100644
index 3d82a882..00000000
--- a/homer_map_manager/include/homer_map_manager/Managers/MapManager.h
+++ /dev/null
@@ -1,109 +0,0 @@
-#ifndef MAPMANAGER_H
-#define MAPMANAGER_H
-
-#include <string>
-#include <map>
-#include <list>
-#include <stdio.h>
-#include <stdlib.h>
-#include <sstream>
-#include <string>
-#include <vector>
-
-#include <nav_msgs/OccupancyGrid.h>
-#include <geometry_msgs/Pose.h>
-#include <nav_msgs/OccupancyGrid.h>
-#include <homer_mapnav_msgs/ModifyMap.h>
-#include <homer_mapnav_msgs/MapLayers.h>
-#include <sensor_msgs/LaserScan.h>
-#include <homer_nav_libs/tools.h>
-#include <tf/tf.h>
-
-#include "ros/ros.h"
-
-/** @class MapManager
-  * @author Malte Knauf, David Gossow (RX), Susanne Maur
-  * @brief This class holds all current map layers, updates them and publishes them in one merged map.
-  */
-class MapManager
-{
-  public:
-
-    /**
-     * @brief Constructor
-     * @param nh node handle
-     */
-    MapManager(ros::NodeHandle* nh);
-
-    /**
-     * @brief getMapLayer search for map layer of given type and return it
-     * @param type type of map layer to search for
-     * @return map layer
-     */
-    nav_msgs::OccupancyGrid::ConstPtr getMapLayer(int type);
-
-    /**
-     * @brief updateMapLayer replaces map layer of given type
-     * @param type type of map layer
-     * @param layer new map layer
-     */
-    void updateMapLayer(int type, nav_msgs::OccupancyGrid::ConstPtr layer);
-
-    /**
-     * @brief toggleMapVisibility toggles visibility of each map layer
-     * @param type type of map layer to toggle
-     * @param state visible or not
-     */
-    void toggleMapVisibility(int type, bool state );
-
-    /**
-     * @brief clearMapLayers Clear all map layers
-     */
-    void clearMapLayers();
-
-    /** getters */
-    double getHeight() { return m_Height; }
-    double getWidth() { return m_Width; }
-    double getResolution() { return m_Resolution; }
-    geometry_msgs::Pose getOrigin() { return m_Origin; }
-    
-    void updateLaser(int layer, const sensor_msgs::LaserScan::ConstPtr& msg );
-
-    /** merges all map layers and publishes the merged map */
-    void sendMergedMap();
-    
-    void updatePose(const geometry_msgs::PoseStamped::ConstPtr& msg){m_pose = msg;}
-
-    /** destructor */
-    virtual ~MapManager();
-
-  private:
-    /**
-     * The map data of each available map layer ist stored in this map
-     */
-    std::map< int, nav_msgs::OccupancyGrid::ConstPtr > m_MapLayers;
-    std::map< int, sensor_msgs::LaserScan::ConstPtr > m_laserLayers;
-    std::vector< int > m_map_layers;
-    std::vector< int > m_laser_layers;
-
-	tf::TransformListener m_TransformListener;
-	
-    /**
-     * This map stores which map layers are enabled and which are disabled
-     */
-    std::map<int, bool> m_MapVisibility;
-
-    //sizes of the last slam map
-    double m_Height;
-    double m_Width;
-    double m_Resolution;
-    bool m_got_transform;
-    geometry_msgs::Pose m_Origin;
-    geometry_msgs::PoseStamped::ConstPtr m_pose;
-	tf::StampedTransform m_sick_transform;
-	tf::StampedTransform m_hokuyo_transform;
-     
-    /** map publisher */
-    ros::Publisher m_MapPublisher;
-};
-#endif
diff --git a/homer_map_manager/include/homer_map_manager/Managers/MaskingManager.h b/homer_map_manager/include/homer_map_manager/Managers/MaskingManager.h
deleted file mode 100644
index a372cf63..00000000
--- a/homer_map_manager/include/homer_map_manager/Managers/MaskingManager.h
+++ /dev/null
@@ -1,53 +0,0 @@
-#ifndef MaskingManager_H
-#define MaskingManager_H
-
-#include <ros/ros.h>
-
-#include <nav_msgs/OccupancyGrid.h>
-#include <homer_mapnav_msgs/ModifyMap.h>
-
-#include <sstream>
-
-/**
- * @class  MaskingManager
- * @brief  Manages a map that can overwrite values in the SLAM map or store it in a separate layer
- * @author Malte Knauf, David Gossow
- */
-class MaskingManager
-{
-  public:
-
-    /** @brief The constructor. */
-    MaskingManager(int mapSize, float resolution);
-
-    /** @brief The destructor. */
-    virtual ~MaskingManager();
-
-    /** modifies either the masking layer or the slam layer (accordingly to the given map layer in the msg */
-    nav_msgs::OccupancyGrid::ConstPtr modifyMap(homer_mapnav_msgs::ModifyMap::ConstPtr msg);
-
-    /** resets the masking map layer */
-    nav_msgs::OccupancyGrid::ConstPtr resetMap();
-
-    /** replaces the masking map layer */
-    void replaceMap(nav_msgs::OccupancyGrid map);
-
-  private:
-
-    /** stores the masking values in the dedicated masking map */
-    nav_msgs::OccupancyGrid m_MaskingMap;
-    /** stores the masking values that are afterwards sent to the slam map */
-    nav_msgs::OccupancyGrid m_SlamMap;
-
-    /** sizes of the masking map layer */
-    int m_Width, m_Height;
-    float m_CellSize;
-
-    /** tools to draw masking polygons */
-    void drawPolygon ( std::vector< geometry_msgs::Point > vertices, int value, int mapLayer );
-    void drawLine ( std::vector<int> &data, int startX, int startY, int endX, int endY, int value );
-    void fillPolygon ( std::vector<int> &data, int x, int y, int value );
-};
-
-#endif
-
diff --git a/homer_map_manager/include/homer_map_manager/Managers/PoiManager.h b/homer_map_manager/include/homer_map_manager/Managers/PoiManager.h
deleted file mode 100644
index f0562e9e..00000000
--- a/homer_map_manager/include/homer_map_manager/Managers/PoiManager.h
+++ /dev/null
@@ -1,89 +0,0 @@
-#ifndef POI_MANAGER_H
-#define POI_MANAGER_H
-
-#include <list>
-
-#include <homer_mapnav_msgs/PointOfInterest.h>
-#include <homer_mapnav_msgs/ModifyPOI.h>
-
-#include <ros/ros.h>
-
-/** @class PoiManager
- * @author Malte Knauf, David Gossow
- * @brief This class manages the List of points of interest (POIs)
-  *
-  * This class keeps a list of all POIs within the current map. It provides the usual functions
-  * to edit the list.
-  */
-class PoiManager {
-
-  public:
-
-    /** The constructor of the class. */
-    PoiManager(ros::NodeHandle* nh);
-
-    /** constructor initializing the poi list */
-    PoiManager( std::vector< homer_mapnav_msgs::PointOfInterest > pois );
-
-    /** Does nothing. */
-    ~PoiManager() {}
-
-    /** Adds a new POI to the list if no POI with the same name exists
-      * @param poi pointer to the PointOfInterest message with the POI to be added
-      * @return true if successful, false otherwise
-      */
-    bool addPointOfInterest( const homer_mapnav_msgs::PointOfInterest::ConstPtr& poi );
-
-    /** Replaces a POI with a new one
-      * @param poi pointer with the PointOfInterest to be inserted
-      *            the POI with the same ID as the new one is first deleted
-      * @return true if the old POI was found and could be deleted
-      *         false otherwise
-      */
-    bool modifyPointOfInterest( const homer_mapnav_msgs::ModifyPOI::ConstPtr& poi );
-
-    /** Deletes a POI with a certain name from the list
-      * @param name Name of the POI to be deleted
-      * @return true if the POI was found and could be deleted
-      *         false otherwise
-      */
-    bool deletePointOfInterest( std::string name );
-
-    /**
-     * @brief place the current poi list
-     * @param poilist new poi list
-     */
-    void replacePOIList(std::vector<homer_mapnav_msgs::PointOfInterest> poilist);
-
-    /**
-     * @brief Publishes a PointsOfInterest Message with current POIs
-
-     */
-    void broadcastPoiList();
-
-    /** Returns current POI list
-      * @return the POI list
-      */
-    std::vector< homer_mapnav_msgs::PointOfInterest > getList();
-
-  private:
-
-    /** Looks for POI with name in the list
-      * @param name Name of the POI
-      */
-    bool poiExists( std::string name );
-
-
-    /** The copy constructor of the class.
-      * It's kept private, because it will never be used.
-      */
-    PoiManager( const PoiManager& instance );
-
-    /** Holds the POI vector */
-    std::vector< homer_mapnav_msgs::PointOfInterest > m_Pois;
-
-    /** publisher that publishes the current poi list */
-    ros::Publisher m_POIsPublisher;
-
-};
-#endif
diff --git a/homer_map_manager/include/homer_map_manager/Managers/RoiManager.h b/homer_map_manager/include/homer_map_manager/Managers/RoiManager.h
deleted file mode 100644
index ca0d893f..00000000
--- a/homer_map_manager/include/homer_map_manager/Managers/RoiManager.h
+++ /dev/null
@@ -1,127 +0,0 @@
-#ifndef ROI_MANAGER_H
-#define ROI_MANAGER_H
-
-#include <ros/ros.h>
-#include <homer_mapnav_msgs/RegionOfInterest.h>
-#include <homer_mapnav_msgs/RegionsOfInterest.h>
-#include <geometry_msgs/PointStamped.h>
-#include <sstream>
-#include <Eigen/Geometry>
-#include <tf/transform_listener.h>
-
-
-/**
- * @class RoiManager (Roi = Region of interest)
- * @author Viktor Seib (R23)
- * @brief This class manages the List of regions of interest (ROIs)
-  *
-  * This class keeps a list of all ROIs within the current map. It provides the usual functions
-  * to edit the list.
-  */
-class RoiManager
-{
-
-  public:
-
-    /** The constructor of the class. */
-    RoiManager(ros::NodeHandle* nh);
-
-    /** constructor initializing the roi list */
-    RoiManager( std::vector< homer_mapnav_msgs::RegionOfInterest > rois );
-
-    /** Does nothing. */
-    ~RoiManager() {}
-
-    /** Adds a new ROI to the list, in contrast to POIs, several ROIs with the same name are allowed
-      * @param roi RegionOfInterest message with the ROI to be added
-      * @return true if successful, false otherwise
-      */
-    bool addRegionOfInterest( const homer_mapnav_msgs::RegionOfInterest::ConstPtr& roi );
-
-    /** Tests all Rois and returns a vector of ids in which the pose is
-      * @param pose Pose which is tested to be inside the Rois
-      * @return vector of ids in which the pose is
-      */
-	std::vector<homer_mapnav_msgs::RegionOfInterest> pointInsideRegionOfInterest( const geometry_msgs::PointStamped point );
-
-    /** Replaces a ROI with a new one
-      * @param roi RegionOfInterest to be inserted
-      *            the ROI with the same ID as the new one is first deleted
-      * @return true if the old ROI was found and could be deleted
-      *         false otherwise
-      */
-    bool modifyRegionOfInterest( const homer_mapnav_msgs::RegionOfInterest::ConstPtr& roi );
-
-    /** Deletes all ROIs with a certain name from the list
-      * @param name Name of the ROIs to be deleted
-      * @return true if the ROI was found and could be deleted
-      *         false otherwise
-      */
-    bool deleteRegionOfInterest( std::string name );
-
-    /** Deltes ROI with the given id
-     * @param id ID of ROI to be deleted
-     * @return true if the ROI was found and could be deleted
-     *         false otherwise
-     */
-    bool deleteRegionOfInterest( int id );
-
-    /**
-     * @brief place the current roi list
-     * @param roilist new roi list
-     */
-    void replaceROIList(std::vector<homer_mapnav_msgs::RegionOfInterest> roilist);
-
-
-    /** Returns current ROI list
-      * @return the ROI list
-      */
-    std::vector< homer_mapnav_msgs::RegionOfInterest > getList();
-    
-    /**
-     * @brief Publishes a RegionsOfInterest Message with current ROIs
-
-     */
-    void broadcastRoiList();
-
-    /** Returns name of ROI 
-      * @param id of ROI
-      * @return ROI name
-      */
-    std::string getROIName(int id);
-
-  private:
-
-    /** Looks for ROI with name in the list
-      * @param id ID of the ROI
-      */
-    bool roiExists(int id );
-
-    /** Looks for ROI with name in the list
-      * @param name Name of the ROI
-      */
-    bool roiExists( std::string name );
-
-
-    /**
-      * @brief gets the highest id of all ROIs and save it into m_highest_id
-      */
-    void setHighestId();
-
-    /** The copy constructor of the class.
-      * It's kept private, because it will never be used.
-      */
-    RoiManager( const RoiManager& instance );
-
-    /** Holds the ROI vector */
-    std::vector< homer_mapnav_msgs::RegionOfInterest > m_Rois;
-
-    /** publisher that publishes the current roi list */
-    ros::Publisher m_ROIsPublisher;
-
-    /** to set a new id, the current highest id is needed */
-    int m_highest_id;
-    
-	tf::TransformListener tf_listener;
-};
-#endif
diff --git a/homer_map_manager/include/homer_map_manager/MapIO/image_loader.h b/homer_map_manager/include/homer_map_manager/MapIO/image_loader.h
deleted file mode 100644
index 930bef39..00000000
--- a/homer_map_manager/include/homer_map_manager/MapIO/image_loader.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * 
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the Willow Garage, Inc. nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- * 
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-#ifndef MAP_SERVER_MAP_SERVER_H
-#define MAP_SERVER_MAP_SERVER_H
-
-/*
- * Author: Brian Gerkey
- */
-
-#include <nav_msgs/GetMap.h>
-
-namespace map_server
-{
-
-/** Read the image from file and fill out the resp object, for later 
- * use when our services are requested. 
- *
- * @param resp The map wil be written into here
- * @param fname The image file to read from
- * @param res The resolution of the map (gets stored in resp)
- * @param negate If true, then whiter pixels are occupied, and blacker
- *               pixels are free
- * @param occ_th Threshold above which pixels are occupied
- * @param free_th Threshold below which pixels are free
- * @param origin Triple specifying 2-D pose of lower-left corner of image
- *
- * @throws std::runtime_error If the image file can't be loaded
- * */
-void loadMapFromFile(nav_msgs::OccupancyGrid* map,
-                     const char* fname, double res, bool negate,
-                     double occ_th, double free_th, double* origin);
-}
-
-#endif
diff --git a/homer_map_manager/include/homer_map_manager/MapIO/map_loader.h b/homer_map_manager/include/homer_map_manager/MapIO/map_loader.h
deleted file mode 100644
index ead7a619..00000000
--- a/homer_map_manager/include/homer_map_manager/MapIO/map_loader.h
+++ /dev/null
@@ -1,79 +0,0 @@
-/*
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the Willow Garage, Inc. nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/* Author: Brian Gerkey */
-
-#define USAGE "\nUSAGE: map_server <map.yaml>\n" \
-              "  map.yaml: map description file\n" \
-              "DEPRECATED USAGE: map_server <map> <resolution>\n" \
-              "  map: image file to load\n"\
-              "  resolution: map resolution [meters/pixel]"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <libgen.h>
-#include <fstream>
-
-#include "ros/ros.h"
-#include "ros/console.h"
-#include <homer_map_manager/MapIO/image_loader.h>
-#include <nav_msgs/OccupancyGrid.h>
-#include "yaml-cpp/yaml.h"
-
-#include <homer_mapnav_msgs/PointOfInterest.h>
-#include <homer_mapnav_msgs/RegionOfInterest.h>
-
-class MapServer
-{
-  public:
-    /** Trivial constructor */
-    MapServer(const std::string fname, bool &success);
-
-    nav_msgs::OccupancyGrid getSLAMMap();
-
-    nav_msgs::OccupancyGrid getMaskingMap();
-
-    std::vector<homer_mapnav_msgs::PointOfInterest> getPois();
-
-    std::vector<homer_mapnav_msgs::RegionOfInterest> getRois();
-
-  
-  private:
-
-    /** The map data is cached here
-     */
-    nav_msgs::GetMap::Response map_resp_;
-    nav_msgs::OccupancyGrid m_SLAMMap;
-    nav_msgs::OccupancyGrid m_MaskingMap;
-
-
-    std::vector<homer_mapnav_msgs::PointOfInterest> poiList;
-    std::vector<homer_mapnav_msgs::RegionOfInterest> roiList;
-
-};
diff --git a/homer_map_manager/include/homer_map_manager/MapIO/map_saver.h b/homer_map_manager/include/homer_map_manager/MapIO/map_saver.h
deleted file mode 100644
index 3ae7e702..00000000
--- a/homer_map_manager/include/homer_map_manager/MapIO/map_saver.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- * map_saver
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * 
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the <ORGANIZATION> nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- * 
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <cstdio>
-#include "ros/ros.h"
-#include "ros/console.h"
-#include "nav_msgs/GetMap.h"
-//#include "LinearMath/btMatrix3x3.h"
-#include "geometry_msgs/Quaternion.h"
-
-#include <homer_mapnav_msgs/PointOfInterest.h>
-#include <homer_mapnav_msgs/RegionOfInterest.h>
-
-using namespace std;
- 
-/**
- * @brief Map generation node.
- */
-class MapGenerator 
-{
-
-  public:
-    MapGenerator(const std::string mapname);
-
-    void save(const nav_msgs::OccupancyGridConstPtr& SLAMMap,
-              const nav_msgs::OccupancyGridConstPtr& maskingMap,
-              std::vector<homer_mapnav_msgs::PointOfInterest> poiList,
-              std::vector<homer_mapnav_msgs::RegionOfInterest> roiList );
-
-  private:
-    std::string m_Mapname;
-
-    void saveMapLayer(const nav_msgs::OccupancyGridConstPtr& map, std::string fileName);
-
-};
-
-
-
diff --git a/homer_map_manager/include/homer_map_manager/Workers/PointOfInterest/PointOfInterest.h b/homer_map_manager/include/homer_map_manager/Workers/PointOfInterest/PointOfInterest.h
deleted file mode 100644
index fcc9912e..00000000
--- a/homer_map_manager/include/homer_map_manager/Workers/PointOfInterest/PointOfInterest.h
+++ /dev/null
@@ -1,184 +0,0 @@
-#ifndef POINTOFINTEREST_H
-#define POINTOFINTEREST_H
-
-#include <string>
-#include <map>
-
-#include <homer_nav_libs/Math/Pose.h>
-
-using namespace std;
-
-typedef std::map< std::string, std::string > StringMapT;
-typedef std::map< std::string, float > FloatMapT;
-typedef std::map< std::string, int > IntMapT;
-
-/**
- * @class PointOfInterest
- *
- * @author Robert Hoffmann (RX), David Gossow (RX), Simon Graeser (RX),
- *         Nicolai Wojke (R14)
- *
- * @brief This class represents a point of interest (POI)
- *
- * This class represents a point of interest (POI). It is derived from
- * Point2D and thus inherits its methods x(), y(), and theta() to query
- * the world position and orientation.
- */
-
-class PointOfInterest: public Pose
-{
-
-  public:
-
-    enum PoiType {  DEFAULT           =100,
-                    VICTIM            =200,
-                    OBJECT            =300,
-                    GRIPPABLE_OBJECT  =400,
-                    PERSON            =600,
-                    ROOMBA            =700,
-                    HAZARD_MATERIAL   =800,
-                    START_POSITION    =900,
-                    START_ORIENTATION =1000
-               };
-
-    PointOfInterest( );
-
-    /**
-      * @brief The constructor
-      *
-      * Creates a point of interest with orientation 0.0.
-      *
-      * @param id unique identification number
-      * @param name name of the poi
-      * @param type type of the poi (victim, etc.)
-      * @param posX,posY position within the map
-      * @param remarks additional information associated with the poi
-      */
-    PointOfInterest ( int id, string name, PoiType type, float posX, float posY, string remarks,
-                      StringMapT stringMap=StringMapT(), FloatMapT floatMap=FloatMapT() ,
-                      IntMapT intMap=IntMapT() )
-        : Pose ( posX, posY, 0.0f )
-    {
-      init ( id, name, type , remarks, stringMap, floatMap, intMap );
-    }
-
-    /** @brief The constructor
-      * @param id unique identification number
-      * @param name name of the poi
-      * @param type type of the poi (victim, etc.)
-      * @param posX,posY position within the map
-      * @param theta orientation of the poi
-      * @param remarks additional information associated with the poi
-      */
-    PointOfInterest ( int id, string name, PoiType type, float posX, float posY, float theta, string remarks,
-                      StringMapT stringMap=StringMapT(), FloatMapT floatMap=FloatMapT(), IntMapT intMap=IntMapT() )
-        : Pose ( posX, posY, theta )
-    {
-      init ( id, name, type , remarks, stringMap, floatMap, intMap );
-    }
-
-    /** @brief Alternative constructor omitting the id parameter */
-    PointOfInterest ( string name, PoiType type, float posX, float posY , string remarks )
-        : Pose ( posX, posY, 0.0f )
-    {
-      init ( -1, name, type , remarks, StringMapT(), FloatMapT(), IntMapT() );
-    }
-
-    /** @brief Alternative constructor omitting the id parameter */
-    PointOfInterest ( string name, PoiType type, float posX, float posY , float theta, string remarks )
-        : Pose ( posX, posY, theta )
-    {
-      init ( -1, name, type , remarks, StringMapT(), FloatMapT(), IntMapT() );
-    }
-
-    /** @brief Copy constructor, assigns a new id */
-    PointOfInterest ( int id, const PointOfInterest* poi );
-
-    /** @brief The standard destructor */
-    virtual ~PointOfInterest() {}
-
-    /** @brief Tests whether this PointOfInterest has the specified name or not, ignoring case.
-      * @param name The name to test as a string.
-      * @return true if the given name matches the PointOfInterest's name (not case-sensitive), false if not.
-      */
-    bool hasName ( string name ) const;
-
-    /** @brief Tests whether this PointOfInterest has the specified string in its name or not, ignoring case.
-     * @param part The string to test.
-     * @return true if the given string is contained in the PointOfInterest's name (not case-sensitive), false if not.
-     */
-    bool hasInName ( string part ) const;
-
-    // SETTER FUNCTIONS /////////////////////////////
-
-    /** @param remarks Changes the contents of remarks attribute. */
-    void setRemarks ( string remarks ) { m_Remarks = remarks; }
-
-    void setName ( string name ) { m_Name = name; }
-
-    /** @brief Add a new String to the StringMap */
-    void addString ( string key, string data ) { m_StringMap.insert ( pair< string, string > ( key, data ) ); }
-
-    /** @brief Add a new Float to the FloatMap */
-    void addFloat ( string key, float data ) { m_FloatMap.insert ( pair< string, float > ( key, data ) ); }
-
-    /** @brief Add a new Int to the IntMap */
-    void addInt ( string key, int data ) { m_IntMap.insert ( pair< string, int > ( key, data ) ); }
-
-    // GETTER FUNCTIONS //////////////////////
-
-    /** @return id attribute */
-    int getId() const { return m_Id; }
-
-    /** @return name attribute */
-    string getName() const { return m_Name; }
-
-    /** @return type attribute */
-    PoiType getType() const { return m_Type; }
-
-    /** @return remarks attribute */
-    string getRemarks() const { return m_Remarks; }
-
-    /** Get the string to the matching string */
-    string getString ( string key ) const { return m_StringMap.find ( key )->second; }
-
-    /** Get the float to the matching string */
-    float getFloat ( string key ) const { return m_FloatMap.find ( key )->second; }
-
-    /** Get the Int to the matching string */
-    int getInt ( string key ) const { return m_IntMap.find ( key )->second; }
-
-    /** Get the string map */
-    map<string, string> getStringMap() const { return m_StringMap; }
-
-    /** Get the float map */
-    map<string, float> getFloatMap() const { return m_FloatMap; }
-
-    /** Get the int map */
-    map<string, int> getIntMap() const { return m_IntMap; }
-
-
-    // (DE)SERIALIZATION ///////////////////////////////////
-    //TODO
-    //    void storer ( ExtendedOutStream& ) const ;
-//    PointOfInterest ( ExtendedInStream& );
-
-    /** @brief print description */
-    void printOn ( ostream& strm ) const;
-
-  private:
-
-    void init ( int id, string name, PoiType type, string remarks, StringMapT stringMap, FloatMapT floatMap, IntMapT intMap );
-
-    int m_Id;
-    string m_Name;
-    PoiType m_Type;
-    string m_Remarks;
-
-    StringMapT m_StringMap;
-    IntMapT m_IntMap;
-    FloatMapT m_FloatMap;
-
-};
-
-#endif
diff --git a/homer_map_manager/include/homer_map_manager/map_manager_node.h b/homer_map_manager/include/homer_map_manager/map_manager_node.h
deleted file mode 100644
index 13464036..00000000
--- a/homer_map_manager/include/homer_map_manager/map_manager_node.h
+++ /dev/null
@@ -1,175 +0,0 @@
-#ifndef MAP_MANAGER_NODE_H
-#define MAP_MANAGER_NODE_H
-
-#include <ros/ros.h>
-#include <tf/transform_listener.h>
-
-#include <homer_map_manager/Managers/MapManager.h>
-#include <homer_map_manager/Managers/PoiManager.h>
-#include <homer_map_manager/Managers/RoiManager.h>
-#include <homer_map_manager/Managers/MaskingManager.h>
-
-#include "std_msgs/String.h"
-#include "std_msgs/Int32.h"
-#include "std_msgs/Empty.h"
-#include "std_srvs/Empty.h"
-#include "nav_msgs/OccupancyGrid.h"
-#include <homer_mapnav_msgs/GetPointsOfInterest.h>
-#include <homer_mapnav_msgs/GetRegionsOfInterest.h>
-#include <homer_mapnav_msgs/GetRegionOfInterestName.h>
-#include <homer_mapnav_msgs/PointInsideRois.h>
-#include <homer_mapnav_msgs/ModifyPOI.h>
-#include <homer_mapnav_msgs/ModifyMap.h>
-#include <homer_mapnav_msgs/MapLayers.h>
-#include <homer_mapnav_msgs/SaveMap.h>
-#include <homer_mapnav_msgs/LoadMap.h>
-#include <homer_mapnav_msgs/RoiChange.h>
-#include <sensor_msgs/LaserScan.h>
-
-#include <homer_map_manager/MapIO/map_saver.h>
-#include <homer_map_manager/MapIO/map_loader.h>
-#include <homer_nav_libs/tools.h>
-
-/** @class MapManagerNode
-  * @author Malte Knauf, Viktor Seib
-  * @brief This class handles incoming and outgoing messages and redirects them to the according modules
-  */
-class MapManagerNode
-{
-public:
-    MapManagerNode(ros::NodeHandle* nh);
-    ~MapManagerNode();
-
-private:
-
-    /** callback functions */
-
-    /** callbacks of MapManagerModule */
-    void callbackSLAMMap( const nav_msgs::OccupancyGrid::ConstPtr& msg );
-    void callbackSaveMap( const std_msgs::String::ConstPtr& msg );
-    void callbackLoadMap( const std_msgs::String::ConstPtr& msg );
-    void callbackMapVisibility( const homer_mapnav_msgs::MapLayers::ConstPtr& msg );
-    void callbackResetMaps( const std_msgs::Empty::ConstPtr& msg );
-
-    /** laser scan callback */
-    void callbackLaserScan( const sensor_msgs::LaserScan::ConstPtr& msg );
-    void callbackBackLaser( const sensor_msgs::LaserScan::ConstPtr& msg );
-    void callbackFrontLaser(const sensor_msgs::LaserScan::ConstPtr& msg );
-
-    /** callbacks of PointOfInterestManagerModule */
-    void callbackAddPOI( const homer_mapnav_msgs::PointOfInterest::ConstPtr& msg );
-    void callbackModifyPOI( const homer_mapnav_msgs::ModifyPOI::ConstPtr& msg );
-    void callbackDeletePOI( const std_msgs::String::ConstPtr& msg );
-
-    /** callbacks of RegionOfInterestManagerModule */
-    void callbackAddROI( const homer_mapnav_msgs::RegionOfInterest::ConstPtr& msg );
-    void callbackModifyROI( const homer_mapnav_msgs::RegionOfInterest::ConstPtr& msg );
-    void callbackDeleteROIbyName( const std_msgs::String::ConstPtr& msg );
-    void callbackDeleteROIbyID( const std_msgs::Int32::ConstPtr& msg );
-
-    
-    void callbackOctomapMap( const nav_msgs::OccupancyGrid::ConstPtr& msg);
-    void callbackRapidMap( const nav_msgs::OccupancyGrid::ConstPtr& msg);
-
-    /** callback of MaskingMapModule */
-    void callbackModifyMap( const homer_mapnav_msgs::ModifyMap::ConstPtr& msg );
-
-    /** service of PointOfInterestModule to get a list with all Points Of Interest */
-    bool getPOIsService(homer_mapnav_msgs::GetPointsOfInterest::Request& req,
-                        homer_mapnav_msgs::GetPointsOfInterest::Response& res);
-
-    /** service of RegionOfInterestModule to get a list with all Regions Of Interest */
-    bool getROIsService(homer_mapnav_msgs::GetRegionsOfInterest::Request& req,
-                        homer_mapnav_msgs::GetRegionsOfInterest::Response& res);
-                        
-    bool pointInsideRoisService(homer_mapnav_msgs::PointInsideRois::Request& req,
-						homer_mapnav_msgs::PointInsideRois::Response& res);
-						
-    bool getROINameService(homer_mapnav_msgs::GetRegionOfInterestName::Request& req,
-						homer_mapnav_msgs::GetRegionOfInterestName::Response& res);
-
-    void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg);    
-
-	/** Service for saving a map**/
-    bool saveMapService(homer_mapnav_msgs::SaveMap::Request& req,
-						homer_mapnav_msgs::SaveMap::Response& res);
-
-	/** Service for loading a map**/
-    bool loadMapService(homer_mapnav_msgs::LoadMap::Request& req,
-						homer_mapnav_msgs::LoadMap::Response& res);
-
-	/** Service resetting the current map**/
-    bool resetMapService(std_srvs::Empty::Request& req,
-						std_srvs::Empty::Response& res);
-    /** modules that are included in this node */
-    MapManager* m_MapManager;
-    PoiManager* m_POIManager;
-    RoiManager* m_ROIManager;
-    MaskingManager* m_MaskingManager;
-
-    //subscriptions of MapManagerModule here
-    ros::Subscriber m_SLAMMapSubscriber;
-    ros::Subscriber m_SaveMapSubscriber;
-    ros::Subscriber m_LoadMapSubscriber;
-    ros::Subscriber m_MapVisibilitySubscriber;
-    ros::Subscriber m_LaserScanSubscriber;
-    ros::Subscriber m_BackLaserScanSubscriber;
-    ros::Subscriber m_FrontLaserScanSubscriber;
-
-    //subscriptions of PointOfInterestManagerModule
-    ros::Subscriber m_AddPOISubscriber;
-    ros::Subscriber m_ModifyPOISubscriber;
-    ros::Subscriber m_DeletePOISubscriber;
-
-    //subscriptions of RegionOfInterestManagerModule
-    ros::Subscriber m_AddROISubscriber;
-    ros::Subscriber m_ModifyROISubscriber;
-    ros::Subscriber m_DeleteROIByIDSubscriber;
-    ros::Subscriber m_DeleteROIByNameSubscriber;
-    ros::Subscriber m_PoiInsideROISubscriber;
-    ros::Subscriber m_PoseSubscriber;
-    ros::Publisher  m_RoiPollPublisher;
-
-    //subscriptions of MaskingMapModule
-    ros::Subscriber m_ModifyMapSubscriber;
-    ros::Subscriber m_ResetMapsSubscriber;
-
-    /** publisher for loaded maps */
-    ros::Publisher m_LoadedMapPublisher;
-
-    /** publisher to mask slam map */
-    ros::Publisher m_MaskSlamMapPublisher;
-
-    /** service of PointOfInterstModule */
-    ros::ServiceServer m_GetPOIsService;
-
-    /** service of RegionOfInterstModule */
-    ros::ServiceServer m_GetROIsService;
-	ros::ServiceServer m_GetROINameService;
-	ros::ServiceServer m_PoiInsideROISService;
-
-	/** Service for saving the current Map to a file **/
-	ros::ServiceServer m_SaveMapService;
-	/** Resetting the current map**/
-	ros::ServiceServer m_ResetMapService;
-	/** Service for loading a previously saved map **/
-	ros::ServiceServer m_LoadMapService;
-	
-
-	tf::TransformListener m_TransformListener;
-
-    /** timestamp of last incoming laser scan message */
-    ros::Time m_LastLaserTime;
-    
-    ros::Subscriber m_OctomapSubscriber;
-    ros::Subscriber m_RapidMapSubscriber;
-    
-    nav_msgs::OccupancyGrid::ConstPtr m_highSensitiveMap;
-    
-    bool m_roi_polling;
-    std::vector<int> m_ids;
-    ros::Time m_lastROIPoll;
-    float m_roi_polling_time;
-};
-
-#endif // MAP_MANAGER_NODE_H
diff --git a/homer_map_manager/mainpage.dox b/homer_map_manager/mainpage.dox
deleted file mode 100644
index 24ea33a3..00000000
--- a/homer_map_manager/mainpage.dox
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b map_manager 
-
-<!-- 
-Provide an overview of your package.
--->
-
--->
-
-
-*/
diff --git a/homer_map_manager/manifest.xml b/homer_map_manager/manifest.xml
deleted file mode 100644
index 158629c1..00000000
--- a/homer_map_manager/manifest.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<package>
-  <description brief="map_manager">
-
-     map_manager
-
-  </description>
-  <author>Malte Knauf</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/map_manager</url>
-
-  <depend package="roscpp"/>
-  <depend package="roslib"/>
-  <depend package="tf"/>
-
-  <depend package="robbie_architecture"/>
-  <depend package="BaseLib"/>
-  <depend package="map_messages"/>
-
-</package>
-
-
diff --git a/homer_map_manager/package.xml b/homer_map_manager/package.xml
deleted file mode 100644
index e95da6d5..00000000
--- a/homer_map_manager/package.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<package>
-  <name>homer_map_manager</name>
-  <version>0.1.1</version>
-  <description>
-     map_manager
-  </description>
-  <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
-  <author email="mknauf@uni-koblenz.de">Malte Knauf</author>
-  <license>GPLv3</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>roscpp</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>homer_mapnav_msgs</build_depend>
-  <build_depend>homer_nav_libs</build_depend>
-  <build_depend>cmake_modules</build_depend>
-  <build_depend>eigen</build_depend>
-  <build_depend>sdl</build_depend>
-  <build_depend>sdl-image</build_depend>
-  <build_depend>yaml-cpp</build_depend>
-  <build_depend>std_srvs</build_depend>
-  
-  <run_depend>roscpp</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>homer_mapnav_msgs</run_depend>
-  <run_depend>homer_nav_libs</run_depend>
-  <run_depend>eigen</run_depend>
-  <run_depend>sdl</run_depend>
-  <run_depend>sdl-image</run_depend>
-  <run_depend>yaml-cpp</run_depend>
-  <run_depend>std_srvs</run_depend>
-
-</package>
-
-
diff --git a/homer_map_manager/readme.pdf b/homer_map_manager/readme.pdf
deleted file mode 100644
index ea8cf379f902f8ac6758c678b5add93a4533a506..0000000000000000000000000000000000000000
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diff --git a/homer_map_manager/src/Managers/MapManager.cpp b/homer_map_manager/src/Managers/MapManager.cpp
deleted file mode 100644
index b6bbf506..00000000
--- a/homer_map_manager/src/Managers/MapManager.cpp
+++ /dev/null
@@ -1,228 +0,0 @@
-#include <homer_map_manager/Managers/MapManager.h>
-#include <omp.h>
-
-MapManager::MapManager(ros::NodeHandle* nh)
-{
-    m_MapPublisher = nh->advertise<nav_msgs::OccupancyGrid>("/map", 1);
-
-	m_map_layers.push_back( homer_mapnav_msgs::MapLayers::SLAM_LAYER);
-	m_map_layers.push_back(	homer_mapnav_msgs::MapLayers::KINECT_LAYER);
-	m_map_layers.push_back(	homer_mapnav_msgs::MapLayers::RAPID_MAP);
-	m_map_layers.push_back(	homer_mapnav_msgs::MapLayers::MASKING_LAYER);
-	m_laser_layers.push_back( homer_mapnav_msgs::MapLayers::HOKUYO_FRONT); 
-	m_laser_layers.push_back( homer_mapnav_msgs::MapLayers::SICK_LAYER);
-							   
-    //enable all map layers
-    
-    for(int i = 0; i< m_map_layers.size(); i++)
-    {
-    	m_MapVisibility[m_map_layers[i]] = true;
-    }
-    
-    for(int i = 0; i< m_laser_layers.size(); i++)
-    {
-    	m_MapVisibility[m_laser_layers[i]] = true;
-    }
-
-    m_Height 			= -1;
-    m_Width 			= -1;
-    m_Resolution 		= -1;
-    
-	try
-	{
-		m_TransformListener.waitForTransform("/base_link", "/laser", ros::Time(0), ros::Duration(3));
-		m_TransformListener.lookupTransform	("/base_link", "/laser", ros::Time(0), m_sick_transform);	
-		m_TransformListener.lookupTransform	("/base_link", "/hokuyo_front", ros::Time(0), m_hokuyo_transform);	
-        m_got_transform = true;
-    }
-    catch (tf::TransformException ex)
-    {
-		ROS_ERROR("%s",ex.what());
-		m_got_transform = false;
-    }
-    geometry_msgs::PoseStamped pose; 
-    pose.pose.position.x = 0;
-    pose.pose.position.y = 0;
-    pose.pose.position.z = 0;
-    pose.pose.orientation = tf::createQuaternionMsgFromYaw(0.0);    
-    
-	m_pose = boost::make_shared<geometry_msgs::PoseStamped>(pose) ;
-    
-}
-
-MapManager::~MapManager()
-{
-}
-
-void MapManager::updateMapLayer(int type, nav_msgs::OccupancyGrid::ConstPtr layer)
-{
-    m_MapLayers[type] 	= layer;
-    //if slam map update map sizes
-    if(type == homer_mapnav_msgs::MapLayers::SLAM_LAYER)
-    {
-        m_Height 		= layer->info.height;
-        m_Width 		= layer->info.width;
-        m_Resolution 	= layer->info.resolution;
-        m_Origin 		= layer->info.origin;
- 	    sendMergedMap();
-    }
-}
-
-void MapManager::clearMapLayers()
-{
-    m_MapLayers.clear();
-}
-
-void MapManager::toggleMapVisibility(int type, bool state)
-{
-    ROS_INFO_STREAM("MapManager: " << type << ": " << state);
-    m_MapVisibility[type] = state;
-}
-    
-void MapManager::updateLaser(int layer, const sensor_msgs::LaserScan::ConstPtr &msg)
-{
-	m_laserLayers[layer] = msg;
-}
-
-nav_msgs::OccupancyGrid::ConstPtr MapManager::getMapLayer(int type)
-{
-    if(m_MapLayers.find(type) == m_MapLayers.end())
-        return nav_msgs::OccupancyGrid::ConstPtr();
-    return m_MapLayers[type];
-}
-
-/**
- * Sends the SLAM map (OccupancyGrid) and (if available and enabled) other merged map layers to the gui node
- *
- */
-void MapManager::sendMergedMap()
-{
-
-    if ( m_MapLayers.find(homer_mapnav_msgs::MapLayers::SLAM_LAYER) == m_MapLayers.end() )
-    {
-      ROS_DEBUG_STREAM( "SLAM map is missing!" );
-      return;
-    }
-    int k;
-    nav_msgs::OccupancyGrid mergedMap( *(m_MapLayers[homer_mapnav_msgs::MapLayers::SLAM_LAYER]));
-    //bake maps
-    for(int j = 1; j < m_map_layers.size(); j++)
-    {
-      if ( m_MapLayers.find(m_map_layers[j]) != m_MapLayers.end()
-         && m_MapVisibility[m_map_layers[j]])
-	   	{
-            //calculating parallel on 8 threads
-            omp_set_num_threads(8);
-            size_t mapsize = m_MapLayers[m_map_layers[j]]->info.height * m_MapLayers[m_map_layers[j]]->info.width;
-            const std::vector<signed char> *tempdata = &m_MapLayers[m_map_layers[j]]->data;
-            const int frei = homer_mapnav_msgs::ModifyMap::FREE;
-            signed char currentvalue = 0;
-            #pragma omp parallel for private(currentvalue) shared(mapsize, tempdata, mergedMap)
-            for (int i = 0; i < mapsize; i++ )
-			{
-                currentvalue = tempdata->at(i);
-                if(currentvalue > 50 || currentvalue == frei)
-				{
-                    mergedMap.data[i] = currentvalue;
-				}
-			}	
-		}
-    }
-    //bake Lasers
-
-	try
-	{
-		int data ;
-		if(m_got_transform)
-		{
-			for(int j = 0; j < m_laser_layers.size(); j++)
-			{
-				if ( m_laserLayers.find(m_laser_layers[j]) != m_laserLayers.end()
-						&& m_MapVisibility[m_laser_layers[j]])
-				{
-					if(m_laser_layers[j] == homer_mapnav_msgs::MapLayers::SICK_LAYER)
-					{
-						data = homer_mapnav_msgs::ModifyMap::BLOCKED;
-					}
-					else if(m_laser_layers[j] == homer_mapnav_msgs::MapLayers::HOKUYO_BACK)
-					{
-						data = homer_mapnav_msgs::ModifyMap::HOKUYO;
-					}
-					else if(m_laser_layers[j] == homer_mapnav_msgs::MapLayers::HOKUYO_FRONT)
-					{
-						data = homer_mapnav_msgs::ModifyMap::HOKUYO;
-					}
-					tf::StampedTransform pose_transform;
-					m_TransformListener.waitForTransform("/map", "/base_link", m_laserLayers[m_laser_layers[j]]->header.stamp, ros::Duration(0.09));
-					m_TransformListener.lookupTransform("/map", "/base_link", m_laserLayers[m_laser_layers[j]]->header.stamp , pose_transform);
-
-				//	pose_transform.setTransform(Transform);		
-
-					for ( int i = 0; i < m_laserLayers[m_laser_layers[j]]->ranges.size(); i++ )
-					{  
-						if(m_laserLayers[m_laser_layers[j]]->ranges[i] < m_laserLayers[m_laser_layers[j]]->range_max &&
-								m_laserLayers[m_laser_layers[j]]->ranges[i] > m_laserLayers[m_laser_layers[j]]->range_min)
-						{
-							float alpha = m_laserLayers[m_laser_layers[j]]->angle_min + i * m_laserLayers[m_laser_layers[j]]->angle_increment;
-							geometry_msgs::Point point;
-							tf::Vector3 pin;
-							tf::Vector3 pout;
-							pin.setX( cos(alpha) * m_laserLayers[m_laser_layers[j]]->ranges[i]);
-							pin.setY( sin(alpha) * m_laserLayers[m_laser_layers[j]]->ranges[i]);
-							pin.setZ(0);
-
-							if(m_laser_layers[j] == homer_mapnav_msgs::MapLayers::SICK_LAYER)
-							{
-								pout = pose_transform * m_sick_transform * pin;
-							}
-							else if(m_laser_layers[j] == homer_mapnav_msgs::MapLayers::HOKUYO_FRONT)
-							{
-								pout = pose_transform * m_hokuyo_transform * pin;
-							}
-							point.x = pout.x();
-							point.y = pout.y();
-							point.z = 0;
-
-							Eigen::Vector2i map_point = map_tools::toMapCoords(point, m_MapLayers[homer_mapnav_msgs::MapLayers::SLAM_LAYER]->info.origin, m_MapLayers[homer_mapnav_msgs::MapLayers::SLAM_LAYER]->info.resolution);
-							k = map_point.y() * m_MapLayers[homer_mapnav_msgs::MapLayers::SLAM_LAYER]->info.width + map_point.x();
-							if(k < 0 || k > m_MapLayers[homer_mapnav_msgs::MapLayers::SLAM_LAYER]->data.size())
-							{
-								continue;
-							}
-							else
-							{
-								mergedMap.data[k] = data;
-							}
-						}
-					}
-				}
-			}
-		}
-		else
-		{
-			try
-			{
-				if(m_TransformListener.waitForTransform("/base_link", "/laser", ros::Time(0), ros::Duration(0.1)))
-				{
-					m_TransformListener.lookupTransform	("/base_link", "/laser", ros::Time(0), m_sick_transform);	
-					m_TransformListener.lookupTransform	("/base_link", "/hokuyo_front", ros::Time(0), m_hokuyo_transform);	
-					m_got_transform = true;
-				}
-			}
-			catch (tf::TransformException ex)
-			{
-				ROS_ERROR("%s",ex.what());
-				m_got_transform = false;
-			}
-		}
-	}
-	catch(tf::TransformException ex)
-	{
-		ROS_ERROR_STREAM(ex.what());
-	}
-    mergedMap.header.stamp = ros::Time::now();
-    mergedMap.header.frame_id = "map";
-    
-    m_MapPublisher.publish(mergedMap);
-    ROS_DEBUG_STREAM("Publishing map");
-}
diff --git a/homer_map_manager/src/Managers/MaskingManager.cpp b/homer_map_manager/src/Managers/MaskingManager.cpp
deleted file mode 100644
index 1b3af14d..00000000
--- a/homer_map_manager/src/Managers/MaskingManager.cpp
+++ /dev/null
@@ -1,185 +0,0 @@
-#include <homer_map_manager/Managers/MaskingManager.h>
-
-using namespace std;
-
-MaskingManager::MaskingManager(int mapSize, float resolution)
-{
-    m_CellSize = resolution;
-    m_Width = mapSize / m_CellSize + 1;
-    m_Height = mapSize / m_CellSize + 1;
-    ROS_INFO_STREAM( "Creating " << m_Width << " x " << m_Height << " map." );
-    m_MaskingMap.info.resolution = m_CellSize;
-    m_MaskingMap.info.height = m_Height;
-    m_MaskingMap.info.width = m_Width;
-    m_MaskingMap.info.origin.position.x = -m_Height * resolution / 2;
-    m_MaskingMap.info.origin.position.y = -m_Width  * resolution / 2;
-    m_MaskingMap.data.resize(m_Width * m_Height);
-    std::fill( m_MaskingMap.data.begin(), m_MaskingMap.data.end(), homer_mapnav_msgs::ModifyMap::NOT_MASKED );
-
-    m_SlamMap.info.resolution = m_CellSize;
-    m_SlamMap.info.height = m_Height;
-    m_SlamMap.info.width = m_Width;
-    m_SlamMap.info.origin.position.x = -m_Height * resolution / 2;
-    m_SlamMap.info.origin.position.y = -m_Width  * resolution / 2;
-    m_SlamMap.data.resize(m_Width * m_Height);
-    std::fill( m_SlamMap.data.begin(), m_SlamMap.data.end(), homer_mapnav_msgs::ModifyMap::NOT_MASKED );
-}
-
-MaskingManager::~MaskingManager()
-{}
-
-nav_msgs::OccupancyGrid::ConstPtr MaskingManager::modifyMap(homer_mapnav_msgs::ModifyMap::ConstPtr msg)
-{
-    //reset SLAM mask map before each masking
-    std::fill( m_SlamMap.data.begin(), m_SlamMap.data.end(), homer_mapnav_msgs::ModifyMap::NOT_MASKED );
-    drawPolygon(msg->region, msg->maskAction, msg->mapLayer);
-
-    nav_msgs::OccupancyGrid::ConstPtr ret;
-    if(msg->mapLayer == 0)
-    {
-        ret = boost::make_shared<const::nav_msgs::OccupancyGrid>(m_SlamMap);
-    }
-    else
-    {
-        ret = boost::make_shared<const::nav_msgs::OccupancyGrid>(m_MaskingMap);
-    }
-    return ret;
-}
-
-nav_msgs::OccupancyGrid::ConstPtr MaskingManager::resetMap()
-{
-    std::fill( m_MaskingMap.data.begin(), m_MaskingMap.data.end(), homer_mapnav_msgs::ModifyMap::NOT_MASKED );
-    nav_msgs::OccupancyGrid::ConstPtr ret = boost::make_shared<const::nav_msgs::OccupancyGrid>(m_MaskingMap);
-    return ret;
-}
-
-void MaskingManager::replaceMap(nav_msgs::OccupancyGrid map)
-{
-    if(map.data.size() != 0)
-        m_MaskingMap = map;
-    else
-        std::fill( m_MaskingMap.data.begin(), m_MaskingMap.data.end(), homer_mapnav_msgs::ModifyMap::NOT_MASKED );
-}
-
-void MaskingManager::drawPolygon ( vector< geometry_msgs::Point > vertices , int value , int mapLayer)
-{
-  if ( vertices.size() == 0 )
-  {
-    ROS_INFO_STREAM( "No vertices given!" );
-    return;
-  }
-    //make temp. map
-    std::vector<int> data(m_Width * m_Height);
-    for ( int i = 0; i < data.size(); i++ )
-    {
-        data[i] = 0;
-    }
-
-  //draw the lines surrounding the polygon
-  for ( unsigned int i = 0; i < vertices.size(); i++ )
-  {
-    int i2 = ( i+1 ) % vertices.size();
-    drawLine ( data, vertices[i].x, vertices[i].y, vertices[i2].x, vertices[i2].y,  1);
-  }
-  //calculate a point in the middle of the polygon
-  float midX = 0;
-  float midY = 0;
-  for ( unsigned int i = 0; i < vertices.size(); i++ )
-  {
-      midX += vertices[i].x;
-      midY += vertices[i].y;
-  }
-  midX /= vertices.size();
-  midY /= vertices.size();
-  //fill polygon
-  fillPolygon ( data, (int)midX, (int)midY, 1 );
-
-    //copy polygon to masking map or slam map (according to parameter mapLayer)
-    for ( int i = 0; i < data.size(); i++ )
-    {
-        if ( data[i] != 0 )
-        {
-            switch(mapLayer)
-            {
-            case 0:         //SLAM map
-                m_SlamMap.data[i] = value;
-                break;
-            case 1:         //Kinect Map. apply masking to masking map
-            case 2:         //masking map
-                m_MaskingMap.data[i] = value;
-                break;
-            }
-        }
-    }
-}
-
-void MaskingManager::drawLine ( std::vector<int> &data, int startX, int startY, int endX, int endY, int value )
-{
-  //bresenham algorithm
-  int x, y, t, dist, xerr, yerr, dx, dy, incx, incy;
-  // compute distances
-  dx = endX - startX;
-  dy = endY - startY;
-
-  // compute increment
-  if ( dx < 0 )
-  {
-    incx = -1;
-    dx = -dx;
-  }
-  else
-  {
-    incx = dx ? 1 : 0;
-  }
-
-  if ( dy < 0 )
-  {
-    incy = -1;
-    dy = -dy;
-  }
-  else
-  {
-    incy = dy ? 1 : 0;
-  }
-
-  // which distance is greater?
-  dist = ( dx > dy ) ? dx : dy;
-  // initializing
-  x = startX;
-  y = startY;
-  xerr = dx;
-  yerr = dy;
-
-  // compute cells
-  for ( t = 0; t < dist; t++ )
-  {
-    data[x + m_Width * y] = value;
-
-    xerr += dx;
-    yerr += dy;
-    if ( xerr > dist )
-    {
-      xerr -= dist;
-      x += incx;
-    }
-    if ( yerr > dist )
-    {
-      yerr -= dist;
-      y += incy;
-    }
-  }
-}
-
-
-void MaskingManager::fillPolygon ( std::vector<int> &data, int x, int y, int value )
-{
-  int index = x + m_Width * y;
-  if ( value != data[index] )
-  {
-    data[index] = value;
-    fillPolygon ( data, x + 1, y, value );
-    fillPolygon ( data, x - 1, y, value );
-    fillPolygon ( data, x, y + 1, value );
-    fillPolygon ( data, x, y - 1, value );
-  }
-}
diff --git a/homer_map_manager/src/Managers/PoiManager.cpp b/homer_map_manager/src/Managers/PoiManager.cpp
deleted file mode 100644
index de35c152..00000000
--- a/homer_map_manager/src/Managers/PoiManager.cpp
+++ /dev/null
@@ -1,138 +0,0 @@
-#include <homer_map_manager/Managers/PoiManager.h>
-
-#include <sstream>
-
-#include <homer_mapnav_msgs/PointsOfInterest.h>
-
-#include <ros/ros.h>
-
-using namespace std;
-
-
-PoiManager::PoiManager(ros::NodeHandle *nh)
-{
-    m_POIsPublisher = nh->advertise<homer_mapnav_msgs::PointsOfInterest>("/map_manager/poi_list", 1);
-    m_Pois.clear();
-}
-
-PoiManager::PoiManager ( std::vector<homer_mapnav_msgs::PointOfInterest> pois )
-{
-  //copy POIs
-  m_Pois = pois;
-}
-
-std::vector<homer_mapnav_msgs::PointOfInterest> PoiManager::getList()
-{
-  return m_Pois;
-}
-
-bool PoiManager::addPointOfInterest (const homer_mapnav_msgs::PointOfInterest::ConstPtr &poi )
-{
-    //make sure there's no POI with the same name
-
-    if ( poiExists ( poi->name ) )
-    {
-      ostringstream stream;
-      stream << "Poi with name " << poi->name << " already exists! Doing nothing.";
-      ROS_WARN_STREAM ( stream.str() );
-      return false;
-    }
-
-    //copy poi & assigning new id
-    homer_mapnav_msgs::PointOfInterest new_poi= *poi;
-
-    ROS_INFO_STREAM ("Adding POI '" << new_poi.name << "'.");
-
-    //insert into list
-    m_Pois.push_back ( new_poi );
-
-    broadcastPoiList();
-    return true;
-}
-
-bool PoiManager::modifyPointOfInterest (const homer_mapnav_msgs::ModifyPOI::ConstPtr &poi )
-{
-  std::string name = poi->old_name;
-
-  std::vector<homer_mapnav_msgs::PointOfInterest>::iterator it;
-
-  for ( it=m_Pois.begin() ; it != m_Pois.end(); it++ )
-  {
-    if ( it->name == name )
-    {
-      *it=poi->poi;
-      broadcastPoiList();
-      return true;
-    }
-  }
-
-  ROS_ERROR_STREAM ( "Cannot modify: POI does not exist!" );
-
-  return false;
-}
-
-void PoiManager::replacePOIList(std::vector<homer_mapnav_msgs::PointOfInterest> poilist)
-{
-    m_Pois = poilist;
-    broadcastPoiList();
-}
-
-bool PoiManager::poiExists ( std::string name )
-{
-  std::vector<homer_mapnav_msgs::PointOfInterest>::iterator it;
-
-  for ( it=m_Pois.begin() ; it != m_Pois.end(); it++ )
-  {
-    if ( it->name == name )
-    {
-      return true;
-    }
-  }
-
-  return false;
-}
-
-bool PoiManager::deletePointOfInterest (std::string name )
-{
-  std::vector< homer_mapnav_msgs::PointOfInterest >::iterator it;
-
-  for ( it=m_Pois.begin() ; it != m_Pois.end(); ) //it++ ) Iterator darf nur dann erhöht werden, wenn kein POI gelöscht wird.
-  {
-    if ( it->name == name )
-    {
-      ROS_INFO_STREAM ("Erasing POI " << name << ".");
-
-      // ! Achtung !
-      // Wenn letztes Element gelöscht wird, wird it auf .end() gesetzt
-      // der nachfolgende Aufruf von it++ führt zu einem Fehler.
-      // Daher Iterator nur erhöhen, wenn kein erase durchgeführt wurde.
-
-      it = m_Pois.erase ( it );
-      broadcastPoiList();
-      return true;
-    }else{
-      it++;
-    }
-  }
-
-  ROS_ERROR_STREAM ("POI " << name << " does not exist.");
-
-  return false;
-}
-
-void PoiManager::broadcastPoiList() {
-  ostringstream stream;
-  //print the current list
-  std::vector< homer_mapnav_msgs::PointOfInterest >::iterator it;
-  stream << "Contents of POI list:\n";
-  homer_mapnav_msgs::PointsOfInterest poiMsg;
-  for ( it = m_Pois.begin(); it != m_Pois.end(); it++ ) {
-    stream << "    POI " << it->name << "', " << it->type
-           << ", (" << it->pose.position.x << "," << it->pose.position.y << "), '" << it->remarks << "'\n";
-  }
-  poiMsg.pois = m_Pois;
-  ros::Rate poll_rate(10);
-  m_POIsPublisher.publish(poiMsg);
-  ROS_DEBUG_STREAM( stream.str() );
-}
-
diff --git a/homer_map_manager/src/Managers/RoiManager.cpp b/homer_map_manager/src/Managers/RoiManager.cpp
deleted file mode 100644
index eb45cb74..00000000
--- a/homer_map_manager/src/Managers/RoiManager.cpp
+++ /dev/null
@@ -1,258 +0,0 @@
-#include <homer_map_manager/Managers/RoiManager.h>
-
-RoiManager::RoiManager(ros::NodeHandle *nh)
-{
-    m_ROIsPublisher = nh->advertise<homer_mapnav_msgs::RegionsOfInterest>("/map_manager/roi_list", 1);
-    m_highest_id = 0; // start with 0 so first ROI gets the 1
-    m_Rois.clear();
-}
-
-RoiManager::RoiManager (std::vector<homer_mapnav_msgs::RegionOfInterest> rois )
-{
-  m_Rois = rois;
-}
-
-std::vector<homer_mapnav_msgs::RegionOfInterest> RoiManager::getList()
-{
-  return m_Rois;
-}
-
-std::string RoiManager::getROIName(int id)
-{
-    if( roiExists ( id ) )
-    {
-      std::vector< homer_mapnav_msgs::RegionOfInterest >::iterator it;
-      for ( it=m_Rois.begin() ; it != m_Rois.end(); it++ )
-	  {
-		if ( it->id == id )
-		{
-		  return it->name;
-		}
- 	  }
- 	  return "";    
-    }
-	else
-	{
-		return "";
-	}
-}
-
-std::vector<homer_mapnav_msgs::RegionOfInterest> RoiManager::pointInsideRegionOfInterest( const geometry_msgs::PointStamped point )
-{
-	std::vector<homer_mapnav_msgs::RegionOfInterest> rois;
-	geometry_msgs::PointStamped mpoint;
-    tf_listener.waitForTransform("/map", point.header.frame_id , ros::Time::now(), ros::Duration(5.0));
-    tf_listener.transformPoint("/map", point, mpoint);
-	std::vector< homer_mapnav_msgs::RegionOfInterest >::iterator it;
-	bool inside = false;
-	for ( it = m_Rois.begin(); it != m_Rois.end(); it++ ) 
-	{
-		inside = false;
-		int i, j;
-		//code idea from http://www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html
-		j = it->points.size()-1;
-		for(i = 0; i < it->points.size(); i++)
-		{
-			if ( ((it->points[i].y > mpoint.point.y) != (it->points[j].y > mpoint.point.y)) && 
-				(mpoint.point.x < (it->points[j].x - it->points[i].x) * (float)(mpoint.point.y - it->points[i].y)/ (it->points[j].y - it->points[i].y) + it->points[i].x) )
-			{  
-		 		inside = !inside;
-			}
-			j = i;
-		}		
-		if(inside)
-		{
-			rois.push_back(*it);
-		}
-	}
-	return rois;
-}
-
-bool RoiManager::addRegionOfInterest (const homer_mapnav_msgs::RegionOfInterest::ConstPtr &roi ) 
-{
-  ROS_INFO_STREAM("Recieved new roi.");
-    if(roiExists ( roi->id ) )
-    {
-      ROS_INFO_STREAM("id exists");
-      std::ostringstream stream;
-      stream << "Roi with ID " << roi->id << " (name: " << roi->name << ") already exists! Modifiying Roi.";
-      ROS_WARN_STREAM ( stream.str() );
-      return modifyRegionOfInterest(roi);
-    }
-    else
-    {
-      ROS_INFO_STREAM("new id");
-      //copy roi & assigning new id
-      homer_mapnav_msgs::RegionOfInterest new_roi= *roi;
-      new_roi.id = (m_highest_id + 1);
-
-      ROS_INFO_STREAM ("Adding ROI '" << new_roi.name << "' with ID " << new_roi.id << ".");
-
-      //insert into list
-      m_Rois.push_back ( new_roi );
-
-      setHighestId();
-      broadcastRoiList();
-      return true;
-    }
-}
-
-bool RoiManager::modifyRegionOfInterest (const homer_mapnav_msgs::RegionOfInterest::ConstPtr &roi )
-{
-  std::vector<homer_mapnav_msgs::RegionOfInterest>::iterator it;
-
-  for ( it=m_Rois.begin() ; it != m_Rois.end(); it++ )
-  {
-    if ( it->id == roi->id )
-    {
-      *it=*roi;
-      setHighestId();
-      broadcastRoiList();
-      return true;
-    }
-  }
-
-  ROS_ERROR_STREAM ( "Cannot modify: ROI does not exist!" );
-
-  return false;
-}
-
-
-void RoiManager::replaceROIList(std::vector<homer_mapnav_msgs::RegionOfInterest> roilist)
-{
-    m_Rois = roilist;
-    setHighestId();
-    broadcastRoiList();
-}
-
-bool RoiManager::roiExists ( int id )
-{
-  ROS_INFO_STREAM("ID: " << id);
-  ROS_INFO_STREAM("roi exists?");
-  ROS_INFO_STREAM("Number Rois: ");
-  ROS_INFO_STREAM( m_Rois.size());
-  if(m_Rois.size()!= 0){
-    std::vector<homer_mapnav_msgs::RegionOfInterest>::iterator it;
-
-    for ( it=m_Rois.begin() ; it != m_Rois.end(); it++ )
-    {
-      if ( it->id == id )
-      {
-        return true;
-      }
-    }
-  }
-  ROS_INFO_STREAM("Return false");
-  return false;
-}
-
-bool RoiManager::roiExists ( std::string name  )
-{
-  ROS_INFO_STREAM("name: " << name);
-  ROS_INFO_STREAM("roi exists?");
-  ROS_INFO_STREAM("Number Rois: ");
-  ROS_INFO_STREAM( m_Rois.size());
-  if(m_Rois.size()!= 0){
-    std::vector<homer_mapnav_msgs::RegionOfInterest>::iterator it;
-
-    for ( it=m_Rois.begin() ; it != m_Rois.end(); it++ )
-    {
-      if ( it->name == name )
-      {
-        return true;
-      }
-    }
-  }
-  ROS_INFO_STREAM("Return false");
-  return false;
-}
-
-bool RoiManager::deleteRegionOfInterest (std::string name )
-{
-  ROS_INFO_STREAM("Delete Roi with name: " << name);
-  std::vector< homer_mapnav_msgs::RegionOfInterest >::iterator it;
-
-  bool modified = false;
-  for ( it=m_Rois.begin() ; it != m_Rois.end(); )
-  {
-    if ( it->name == name )
-    {
-      ROS_INFO_STREAM ("Erasing all ROIs with name " << name << ".");
-      it = m_Rois.erase ( it );
-      modified = true;
-    } else {
-      it++;
-    }
-  }
-
-  if(modified)
-  {
-    ROS_INFO_STREAM("modified");
-    broadcastRoiList();
-    return true;
-  }
-
-  ROS_ERROR_STREAM ("ROI " << name << " does not exist.");
-
-  return false;
-}
-
-
-bool RoiManager::deleteRegionOfInterest (int id )
-{
-  std::vector< homer_mapnav_msgs::RegionOfInterest >::iterator it;
-
-  for ( it=m_Rois.begin() ; it != m_Rois.end(); it++ )
-  {
-    if ( it->id == id )
-    {
-          ROS_INFO_STREAM ("Erasing ROI with ID " << id << ".");
-          it = m_Rois.erase ( it );
-          broadcastRoiList();
-          return true;
-    }
-  }
-
-  ROS_ERROR_STREAM ("ROI with ID " << id << " does not exist.");
-
-  return false;
-}
-
-void RoiManager::broadcastRoiList()
-{
-  std::ostringstream stream;
-  ROS_INFO_STREAM("Broadcast ROI.");
-  //print the current list
-  std::vector< homer_mapnav_msgs::RegionOfInterest >::iterator it;
-  stream << "Contents of ROI list:\n";
-  homer_mapnav_msgs::RegionsOfInterest roiMsg;
-  for ( it = m_Rois.begin(); it != m_Rois.end(); it++ ) {
-   stream << "    ROI '" << it->name << "', '" << it->type
-           << "', [ " << it->points[0].x << " " << it->points[0].y << " ; "
-           << " " << it->points[1].x << " " << it->points[1].y << " ; "
-           << " " << it->points[2].x << " " << it->points[2].y << " ; "
-           << " " << it->points[3].x << " " << it->points[3].y << " ], '"
-           << it->remarks << "'\n";
-  }
-//  ROS_INFO_STREAM( stream.str() );
-  roiMsg.rois = m_Rois;
-  ROS_INFO_STREAM("roiMsg.rois");
-  m_ROIsPublisher.publish(roiMsg);
-  ROS_DEBUG_STREAM( stream.str() );
-}
-
-void RoiManager::setHighestId()
-{
-  ROS_INFO_STREAM("Set global variable highest_id.");
-  ROS_INFO_STREAM("Find highest id of all ROIs.");
-  ROS_INFO_STREAM("current highest id: " << m_highest_id);
-  std::vector< homer_mapnav_msgs::RegionOfInterest >::iterator it;
-  for ( it = m_Rois.begin(); it != m_Rois.end(); it++ ) {
-    ROS_INFO_STREAM("Roi: " << it->name << ", " << it->id);
-    if( it->id >= m_highest_id)
-    {
-      m_highest_id = it->id;
-      ROS_INFO_STREAM("set new highest id: " << m_highest_id);
-    }
-  }
-}
diff --git a/homer_map_manager/src/MapIO/image_loader.cpp b/homer_map_manager/src/MapIO/image_loader.cpp
deleted file mode 100644
index 46f36923..00000000
--- a/homer_map_manager/src/MapIO/image_loader.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * 
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the Willow Garage, Inc. nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- * 
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/*
- * This file contains helper functions for loading images as maps.
- * 
- * Author: Brian Gerkey
- */
-
-#include <cstring>
-#include <stdexcept>
-
-#include <stdlib.h>
-#include <stdio.h>
-
-// We use SDL_image to load the image from disk
-#include <SDL/SDL_image.h>
-
-#include <homer_map_manager/MapIO/image_loader.h>
-#include <tf/tf.h>
-
-// compute linear index for given map coords
-#define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
-
-namespace map_server
-{
-
-void
-loadMapFromFile(nav_msgs::OccupancyGrid* map,
-                const char* fname, double res, bool negate,
-                double occ_th, double free_th, double* origin)
-{
-  SDL_Surface* img;
-
-  unsigned char* pixels;
-  unsigned char* p;
-  int rowstride, n_channels;
-  unsigned int i,j;
-  int k;
-  double occ;
-  int color_sum;
-  double color_avg;
-
-  // Load the image using SDL.  If we get NULL back, the image load failed.
-  if(!(img = IMG_Load(fname)))
-  {
-    std::string errmsg = std::string("failed to open image file \"") + 
-            std::string(fname) + std::string("\"");
-    throw std::runtime_error(errmsg);
-  }
-
-  // Copy the image data into the map structure
-  map->info.width = img->w;
-  map->info.height = img->h;
-  map->info.resolution = res;
-  map->info.origin.position.x = *(origin);
-  map->info.origin.position.y = *(origin+1);
-  map->info.origin.position.z = 0.0;
-  tf::Quaternion q;
-  q.setRPY(0,0, *(origin+2));
-  map->info.origin.orientation.x = q.x();
-  map->info.origin.orientation.y = q.y();
-  map->info.origin.orientation.z = q.z();
-  map->info.origin.orientation.w = q.w();
-
-  // Allocate space to hold the data
-  map->data.resize(map->info.width * map->info.height);
-
-  // Get values that we'll need to iterate through the pixels
-  rowstride = img->pitch;
-  n_channels = img->format->BytesPerPixel;
-
-  // Copy pixel data into the map structure
-  pixels = (unsigned char*)(img->pixels);
-  for(j = 0; j < map->info.height; j++)
-  {
-    for (i = 0; i < map->info.width; i++)
-    {
-      // Compute mean of RGB for this pixel
-      p = pixels + j*rowstride + i*n_channels;
-      color_sum = 0;
-      for(k=0;k<n_channels;k++)
-        color_sum += *(p + (k));
-      color_avg = color_sum / (double)n_channels;
-
-      // If negate is true, we consider blacker pixels free, and whiter
-      // pixels free.  Otherwise, it's vice versa.
-      if(negate)
-        occ = color_avg / 255.0;
-      else
-        occ = (255 - color_avg) / 255.0;
-      
-      // Apply thresholds to RGB means to determine occupancy values for
-      // map.  Note that we invert the graphics-ordering of the pixels to
-      // produce a map with cell (0,0) in the lower-left corner.
-      if(occ > occ_th)
-        map->data[MAP_IDX(map->info.width,i,map->info.height - j - 1)] = 99;
-      else if(occ < free_th)
-        map->data[MAP_IDX(map->info.width,i,map->info.height - j - 1)] = 0;
-      else
-        map->data[MAP_IDX(map->info.width,i,map->info.height - j - 1)] = -1;
-    }
-  }
-
-  SDL_FreeSurface(img);
-}
-
-}
diff --git a/homer_map_manager/src/MapIO/map_loader.cpp b/homer_map_manager/src/MapIO/map_loader.cpp
deleted file mode 100644
index 5b010677..00000000
--- a/homer_map_manager/src/MapIO/map_loader.cpp
+++ /dev/null
@@ -1,275 +0,0 @@
-/*
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the Willow Garage, Inc. nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/* Author: Brian Gerkey */
-
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <libgen.h>
-#include <fstream>
-
-#include "ros/ros.h"
-#include "ros/console.h"
-#include <homer_map_manager/MapIO/image_loader.h>
-#include "nav_msgs/MapMetaData.h"
-#include "yaml-cpp/yaml.h"
-#include "tf/transform_datatypes.h"
-
-#include <homer_map_manager/MapIO/map_loader.h>
-
-/** Trivial constructor */
-MapServer::MapServer(const std::string fname, bool &success)
-{
-	success = false;
-	std::string slammapfname = "";
-	std::string maskingmapfname = "";
-	double origin[3];
-	int negate;
-	double res, occ_th, free_th;
-	std::string frame_id;
-	frame_id = "map";
-	//mapfname = fname + ".pgm";
-	//std::ifstream fin((fname + ".yaml").c_str());
-	std::ifstream fin(fname.c_str());
-	if (fin.fail()) {
-		ROS_ERROR("Map_server could not open %s.", fname.c_str());
-		return;
-	}
-
-	YAML::Node doc = YAML::LoadFile(fname);
-
-	try { 
-		res = doc["resolution"].as<double>();
-	} catch (YAML::InvalidScalar) { 
-		ROS_ERROR("The map does not contain a resolution tag or it is invalid.");
-		return;
-	}
-	try { 
-		negate = doc["negate"].as<int>(); 
-	} catch (YAML::InvalidScalar) { 
-		ROS_ERROR("The map does not contain a negate tag or it is invalid.");
-		return;
-	}
-	try { 
-		occ_th = doc["occupied_thresh"].as<double>(); 
-	} catch (YAML::InvalidScalar) { 
-		ROS_ERROR("The map does not contain an occupied_thresh tag or it is invalid.");
-		return;
-	}
-	try { 
-		free_th = doc["free_thresh"].as<double>(); 
-	} catch (YAML::InvalidScalar) { 
-		ROS_ERROR("The map does not contain a free_thresh tag or it is invalid.");
-		return;
-	}
-	try { 
-		origin[0] = doc["origin"][0].as<double>(); 
-		origin[1] = doc["origin"][1].as<double>(); 
-		origin[2] = doc["origin"][2].as<double>(); 
-	} catch (YAML::InvalidScalar) { 
-		ROS_ERROR("The map does not contain an origin tag or it is invalid.");
-		return;
-	}
-	try {
-		slammapfname = doc["image"].as<std::string>();
-		// TODO: make this path-handling more robust
-		if(slammapfname.size() == 0)
-		{
-			ROS_ERROR("The image tag cannot be an empty string.");
-			return;
-		}
-		if(slammapfname[0] != '/')
-		{
-			// dirname can modify what you pass it
-			char* fname_copy = strdup(fname.c_str());
-			slammapfname = std::string(dirname(fname_copy)) + '/' + slammapfname;
-			free(fname_copy);
-		}
-	} catch (YAML::InvalidScalar) { 
-		ROS_ERROR("The map does not contain an image tag or it is invalid.");
-		return;
-	}
-	//get masking map image path if available
-	if(doc["mask_image"])
-	{
-		maskingmapfname = doc["mask_image"].as<std::string>();
-		// TODO: make this path-handling more robust
-		if(maskingmapfname.size() == 0)
-		{
-			ROS_ERROR("The image tag cannot be an empty string.");
-			return;
-		}
-		if(maskingmapfname[0] != '/')
-		{
-			//              // dirname can modify what you pass it
-			char* fname_copy = strdup(fname.c_str());
-			maskingmapfname = std::string(dirname(fname_copy)) + '/' + maskingmapfname;
-			free(fname_copy);
-		}
-	}
-
-	//get POIs if existent
-	if(doc["pois"])
-	{
-		ROS_INFO_STREAM("Found "  << doc["pois"].size() << " pois");
-		for(size_t i = 0; i < doc["pois"].size(); ++i)
-		{
-      ROS_INFO_STREAM("load one poi." << i);
-			std::string name;
-			int type;
-			float posX;
-			float posY;
-			float theta;
-			std::string remarks;
-			name = doc["pois"][i]["name"].as<std::string>() ;
-			type = doc["pois"][i]["type"].as<int>() ;
-			posX = doc["pois"][i]["x"].as<double>() ;
-			posY = doc["pois"][i]["y"].as<double>() ;
-			theta =	doc["pois"][i]["theta"].as<double>() ;
-            remarks = doc["pois"][i]["remarks"].as<std::string>("");
-
-			homer_mapnav_msgs::PointOfInterest poi;
-			poi.name = name;
-			poi.type = type;
-			poi.pose.position.x = posX;
-			poi.pose.position.y = posY;
-			poi.pose.position.z = 0.0;
-			poi.pose.orientation = tf::createQuaternionMsgFromYaw(theta);
-			poi.remarks = remarks;
-      ROS_INFO_STREAM("Done, Saving in mapnav_msgs");
-
-			poiList.push_back(poi);
-      ROS_INFO_STREAM("loaded one poi");
-    }
-    ROS_INFO_STREAM("Done. Loaded all POIs.");
-  }
-
-
-  //get ROIs if existent
-  if(doc["rois"])
-  {
-    ROS_INFO_STREAM("Found "  << doc["rois"].size() << " rois");
-    for(size_t i = 0; i < doc["rois"].size(); ++i)
-    {
-      std::string name;
-      int type;
-      float posX1;
-      float posY1;
-      float posX2;
-      float posY2;
-      float posX3;
-      float posY3;
-      float posX4;
-      float posY4;
-      int id;
-      std::string remarks;
-
-      // Read from file
-      name = doc["rois"][i]["name"].as<std::string>() ;
-      type = doc["rois"][i]["type"].as<int>() ;
-      posX1 = doc["rois"][i]["x1"].as<double>() ;
-      posY1 = doc["rois"][i]["y1"].as<double>() ;
-      posX2 = doc["rois"][i]["x2"].as<double>() ;
-      posY2 = doc["rois"][i]["y2"].as<double>() ;
-      posX3 = doc["rois"][i]["x3"].as<double>() ;
-      posY3 = doc["rois"][i]["y3"].as<double>() ;
-      posX4 = doc["rois"][i]["x4"].as<double>() ;
-      posY4 = doc["rois"][i]["y4"].as<double>() ;
-      id = doc["rois"][i]["id"].as<int>() ;
-      remarks = doc["rois"][i]["remarks"].as<std::string>("-") ;
-
-      // save in roi-type
-      homer_mapnav_msgs::RegionOfInterest roi;
-      roi.name = name;
-      roi.type = type;
-      roi.points[0].x = posX1;
-      roi.points[0].y = posY1;
-      roi.points[0].z = 0.0;
-      roi.points[1].x = posX2;
-      roi.points[1].y = posY2;
-      roi.points[1].z = 0.0;
-      roi.points[2].x = posX3;
-      roi.points[2].y = posY3;
-      roi.points[2].z = 0.0;
-      roi.points[3].x = posX4;
-      roi.points[3].y = posY4;
-      roi.points[3].z = 0.0;
-      roi.id = id;
-      roi.remarks = remarks;
-
-      roiList.push_back(roi);
-    }
-  }
-
-	ROS_INFO("Loading SLAM map from image \"%s\"", slammapfname.c_str());
-	map_server::loadMapFromFile(&m_SLAMMap,slammapfname.c_str(),res,negate,occ_th,free_th, origin);
-	m_SLAMMap.info.map_load_time = ros::Time::now();
-	m_SLAMMap.header.frame_id = frame_id;
-	m_SLAMMap.header.stamp = ros::Time::now();
-	ROS_INFO("Read a %d X %d SLAM map @ %.3lf m/cell",
-			m_SLAMMap.info.width,
-			m_SLAMMap.info.height,
-			m_SLAMMap.info.resolution);
-
-	if(maskingmapfname != "")
-	{
-		ROS_INFO("Loading masking map from image \"%s\"", maskingmapfname.c_str());
-		map_server::loadMapFromFile(&m_MaskingMap,maskingmapfname.c_str(),res,negate,occ_th,free_th, origin);
-		m_MaskingMap.info.map_load_time = ros::Time::now();
-		m_MaskingMap.header.frame_id = frame_id;
-		m_MaskingMap.header.stamp = ros::Time::now();
-		ROS_INFO("Read a %d X %d masking map @ %.3lf m/cell",
-				m_MaskingMap.info.width,
-				m_MaskingMap.info.height,
-				m_MaskingMap.info.resolution);
-	}
-	success = true;
-}
-
-nav_msgs::OccupancyGrid MapServer::getSLAMMap()
-{
-	return m_SLAMMap;
-}
-
-nav_msgs::OccupancyGrid MapServer::getMaskingMap()
-{
-	return m_MaskingMap;
-}
-
-std::vector<homer_mapnav_msgs::PointOfInterest> MapServer::getPois()
-{
-	return poiList;
-}
-
-std::vector<homer_mapnav_msgs::RegionOfInterest> MapServer::getRois()
-{
-  return roiList;
-}
-
diff --git a/homer_map_manager/src/MapIO/map_saver.cpp b/homer_map_manager/src/MapIO/map_saver.cpp
deleted file mode 100644
index 7aeff6a3..00000000
--- a/homer_map_manager/src/MapIO/map_saver.cpp
+++ /dev/null
@@ -1,189 +0,0 @@
-/*
- * map_saver
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- * 
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * 
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the <ORGANIZATION> nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- * 
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <homer_map_manager/MapIO/map_saver.h>
-
-#include <sys/types.h>
-#include <sys/stat.h>
-
-#include <tf/tf.h>
-
-using namespace std;
- 
-
-    MapGenerator::MapGenerator(const std::string mapname)
-    {
-        m_Mapname = mapname;
-    }
-
-    void MapGenerator::saveMapLayer(const nav_msgs::OccupancyGridConstPtr &map, std::string fileName)
-    {
-        ROS_INFO("Writing map occupancy data to %s", fileName.c_str());
-        FILE* out = fopen(fileName.c_str(), "w");
-        if (!out)
-        {
-          ROS_ERROR("Couldn't save map file to %s", fileName.c_str());
-          return;
-        }
-
-        fprintf(out, "P5\n# CREATOR: map_saver.cpp %.3f m/pix\n%d %d\n255\n",
-                map->info.resolution, map->info.width, map->info.height);
-        for(unsigned int y = 0; y < map->info.height; y++) {
-          for(unsigned int x = 0; x < map->info.width; x++) {
-            unsigned int i = x + (map->info.height - y - 1) * map->info.width;
-            if (map->data[i] == -1) {
-                fputc(205, out);
-            } else if (map->data[i] < 20) { //occ [0,0.2)
-                fputc(254, out);
-            } else if (map->data[i] > 65) { //occ (0.65,1]
-                fputc(000, out);
-            } else { //occ [0.2,0.65]
-                fputc(205, out);
-            }
-          }
-        }
-        fclose(out);
-    }
-
-    void MapGenerator::save(const nav_msgs::OccupancyGridConstPtr& SLAMMap,
-                            const nav_msgs::OccupancyGridConstPtr& maskingMap,
-                            std::vector<homer_mapnav_msgs::PointOfInterest> poiList,
-                            std::vector<homer_mapnav_msgs::RegionOfInterest> roiList)
-    {
-      if (access(m_Mapname.c_str(),W_OK) != (-1))
-      {
-          // Map "Directory" is an accessible File
-          size_t sp = m_Mapname.rfind('/');
-          m_Mapname = m_Mapname.substr(0,sp);
-      }
-      size_t a = m_Mapname.rfind('/');
-      std::string filename = "";
-      if (a == std::string::npos)
-      {
-         filename = m_Mapname;
-      }
-      else
-      {
-         filename = m_Mapname.substr(a+1, m_Mapname.size()-1);
-      }
-      int status;
-      status = mkdir(m_Mapname.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
-      std::string SLAMMapdatafile = filename + "_SLAM.pgm";
-      std::string maskingMapdatafile = "";
-      saveMapLayer(SLAMMap, m_Mapname + "/" + SLAMMapdatafile);
-      if(maskingMap != NULL)
-      {
-        maskingMapdatafile = filename + "_mask.pgm";
-        saveMapLayer(maskingMap, m_Mapname + "/" + maskingMapdatafile);
-      }
-      std::string mapmetadatafile = m_Mapname + "/" + filename + ".yaml";
-      ROS_INFO("Writing map metadata to %s", mapmetadatafile.c_str());
-      FILE* yaml = fopen(mapmetadatafile.c_str(), "w");
-
-      /*
-resolution: 0.100000
-origin: [0.000000, 0.000000, 0.000000]
-#
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-
-       */
-
-      geometry_msgs::Quaternion orientation = SLAMMap->info.origin.orientation;
-      //btMatrix3x3 mat(btQuaternion(orientation.x, orientation.y, orientation.z, orientation.w));
-      tf::Quaternion quat_tf;
-      tf::quaternionMsgToTF(orientation, quat_tf);
-      double yaw = tf::getYaw(quat_tf);
-      //mat.getEulerYPR(yaw, pitch, roll);
-
-      stringstream pois;
-      if(!poiList.empty())
-      {
-        pois << "pois:\n";
-        std::vector< homer_mapnav_msgs::PointOfInterest >::iterator it;
-        for ( it = poiList.begin(); it != poiList.end(); it++ ) {
-            pois << " - name: " << it->name << "\n";
-            pois << "   type: " << it->type << "\n";
-            pois << "   x: " << it->pose.position.x << "\n";
-            pois << "   y: " << it->pose.position.y << "\n";
-            pois << "   theta: " << tf::getYaw(it->pose.orientation) << "\n";
-            if(it->remarks == "-")
-            {
-              pois << "   remarks: " << "\n";
-            }else{
-              pois << "   remarks: " << it->remarks << "\n";
-            }
-            //pois << "   remarks: " << it->remarks << "\n";
-        }
-      }
-      string poiStr = pois.str();
-
-      stringstream rois;
-      if(!roiList.empty())
-      {
-        rois << "rois:\n";
-        std::vector< homer_mapnav_msgs::RegionOfInterest >::iterator it;
-        for ( it = roiList.begin(); it != roiList.end(); it++ ) {
-
-            rois << " - name: " << it->name << "\n";
-            rois << "   type: " << it->type << "\n";
-            rois << "   x1: " << it->points[0].x << "\n";
-            rois << "   y1: " << it->points[0].y << "\n";
-            rois << "   x2: " << it->points[1].x << "\n";
-            rois << "   y2: " << it->points[1].y << "\n";
-            rois << "   x3: " << it->points[2].x << "\n";
-            rois << "   y3: " << it->points[2].y << "\n";
-            rois << "   x4: " << it->points[3].x << "\n";
-            rois << "   y4: " << it->points[3].y << "\n";
-            rois << "   id: " << it->id << "\n";
-            //rois << "   remarks: " << it->remarks << "\n";
-            if(it->remarks == "-")
-            {
-              rois << "   remarks: " << "\n";
-            }else{
-              rois << "   remarks: " << it->remarks << "\n";
-            }
-        }
-      }
-      string roiStr = rois.str();
-
-      string maskImage = "";
-      if(maskingMapdatafile != "")
-        maskImage = "\nmask_image: ";
-      fprintf(yaml, "image: %s%s%s\nresolution: %f\norigin: [%f, %f, %f]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.195\n\n%s\n%s",
-              SLAMMapdatafile.c_str(), maskImage.c_str(), maskingMapdatafile.c_str(), SLAMMap->info.resolution, SLAMMap->info.origin.position.x, SLAMMap->info.origin.position.y, yaw, poiStr.c_str(), roiStr.c_str() );
-      fclose(yaml);
-
-      ROS_INFO("Done\n");
-    }
-
-
-
diff --git a/homer_map_manager/src/Workers/PointOfInterest/CMakeLists.txt b/homer_map_manager/src/Workers/PointOfInterest/CMakeLists.txt
deleted file mode 100644
index 20de7bca..00000000
--- a/homer_map_manager/src/Workers/PointOfInterest/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-set(PointOfInterest_SRC
-  PoiManager.cpp
-)
-
-add_library(MapManagerPointOfInterest ${PointOfInterest_SRC})
diff --git a/homer_map_manager/src/map_manager_node.cpp b/homer_map_manager/src/map_manager_node.cpp
deleted file mode 100644
index 59bca474..00000000
--- a/homer_map_manager/src/map_manager_node.cpp
+++ /dev/null
@@ -1,419 +0,0 @@
-#include <homer_map_manager/map_manager_node.h>
-//#include <gperftools/profiler.h>
-
-MapManagerNode::MapManagerNode(ros::NodeHandle *nh)
-{
-    m_LastLaserTime = ros::Time::now();
-
-    int mapSize;
-    float resolution;
-	ros::param::param("/homer_mapping/size", mapSize, (int) 35);
-	ros::param::param("/homer_mapping/resolution", resolution, (float) 0.05);
-    ros::param::param("/map_manager/roi_updates", m_roi_polling, (bool) false);
-    ros::param::param("/map_manager/roi_polling_time", m_roi_polling_time, (float) 0.5);
-    m_lastROIPoll = ros::Time::now();
-    m_MapManager = new MapManager(nh);
-    m_POIManager = new PoiManager(nh);
-    m_ROIManager = new RoiManager(nh);
-    m_MaskingManager = new MaskingManager(mapSize, resolution);
-
-    //subscriptions of MapManagerModule
-    m_RapidMapSubscriber 		= nh->subscribe("/rapid_mapping/map", 1, &MapManagerNode::callbackRapidMap, this);
-    m_OctomapSubscriber 		= nh->subscribe("/projected_map", 1, &MapManagerNode::callbackOctomapMap, this);
-    m_SLAMMapSubscriber 		= nh->subscribe("/homer_mapping/slam_map", 1, &MapManagerNode::callbackSLAMMap, this);
-    m_SaveMapSubscriber 		= nh->subscribe("/map_manager/save_map", 1, &MapManagerNode::callbackSaveMap, this);
-	m_LoadMapSubscriber 		= nh->subscribe("/map_manager/load_map", 1, &MapManagerNode::callbackLoadMap, this);
-    m_MapVisibilitySubscriber 	= nh->subscribe("/map_manager/toggle_map_visibility", 1, &MapManagerNode::callbackMapVisibility, this);
-    m_LaserScanSubscriber 		= nh->subscribe("/scan", 1, &MapManagerNode::callbackLaserScan, this);
-    m_BackLaserScanSubscriber 	= nh->subscribe("/back_scan", 1, &MapManagerNode::callbackBackLaser, this);
-    m_FrontLaserScanSubscriber 	= nh->subscribe("/front_scan", 1, &MapManagerNode::callbackFrontLaser, this);
-	m_PoseSubscriber 			= nh->subscribe("/pose", 1, &MapManagerNode::poseCallback, this);
-
-    //subscriptions of PoiManager
-    m_AddPOISubscriber 			= nh->subscribe("/map_manager/add_POI", 20, &MapManagerNode::callbackAddPOI, this);
-    m_ModifyPOISubscriber 		= nh->subscribe("/map_manager/modify_POI", 100, &MapManagerNode::callbackModifyPOI, this);
-    m_DeletePOISubscriber 		= nh->subscribe("/map_manager/delete_POI", 100, &MapManagerNode::callbackDeletePOI, this);
-    m_GetPOIsService 			= nh->advertiseService("/map_manager/get_pois", &MapManagerNode::getPOIsService, this);
-    
-	// Services for Map Handling
-    m_SaveMapService 			= nh->advertiseService("/map_manager/save_map", &MapManagerNode::saveMapService, this);
-    m_ResetMapService 			= nh->advertiseService("/map_manager/reset_map", &MapManagerNode::resetMapService, this);
-    m_LoadMapService 			= nh->advertiseService("/map_manager/load_map", &MapManagerNode::loadMapService, this);
-
-    //subscriptions of RoiManager
-    m_AddROISubscriber 			= nh->subscribe("/map_manager/add_ROI", 20, &MapManagerNode::callbackAddROI, this);
-    m_ModifyROISubscriber 		= nh->subscribe("/map_manager/modify_ROI", 100, &MapManagerNode::callbackModifyROI, this);
-    m_DeleteROIByNameSubscriber = nh->subscribe("/map_manager/delete_ROI_by_name", 100, &MapManagerNode::callbackDeleteROIbyName, this);
-    m_DeleteROIByIDSubscriber 	= nh->subscribe("/map_manager/delete_ROI_by_id", 100, &MapManagerNode::callbackDeleteROIbyID, this);
-    m_GetROIsService 			= nh->advertiseService("/map_manager/get_rois", &MapManagerNode::getROIsService, this);	
-	m_GetROINameService			= nh->advertiseService("/map_manager/get_roi_name", &MapManagerNode::getROINameService, this);
-    m_PoiInsideROISService   	= nh->advertiseService("/map_manager/point_inside_rois", &MapManagerNode::pointInsideRoisService, this);
-    if(m_roi_polling)
-    {
-    	m_RoiPollPublisher		= nh->advertise<homer_mapnav_msgs::RoiChange>("/map_manager/roi_change", 1);
-	}
-
-    //subscribtions of MaskingMapModule
-    m_ModifyMapSubscriber 		= nh->subscribe("/map_manager/modify_map", 1, &MapManagerNode::callbackModifyMap, this);
-    m_ResetMapsSubscriber 		= nh->subscribe("/map_manager/reset_maps", 1, &MapManagerNode::callbackResetMaps, this);
-
-    //loaded map publisher
-    m_LoadedMapPublisher 		= nh->advertise<nav_msgs::OccupancyGrid>("/map_manager/loaded_map", 1);
-
-    //mask slam publisher
-    m_MaskSlamMapPublisher 		= nh->advertise<nav_msgs::OccupancyGrid>("/map_manager/mask_slam", 1);
-
-
-    //load map file from config if present
-    std::string mapfile;
-	ros::param::get("/map_manager/default_mapfile", mapfile);
-    if(mapfile != "")
-    {
-		std_msgs::String::Ptr mapfileMsg(new std_msgs::String);
-        mapfileMsg->data= mapfile;
-        callbackLoadMap ( mapfileMsg );
-    }
-	  m_POIManager->broadcastPoiList();
-	  m_ROIManager->broadcastRoiList();
-}
-
-MapManagerNode::~MapManagerNode()
-{
-    if(m_MapManager) delete m_MapManager;
-    if(m_POIManager) delete m_POIManager;
-    if(m_ROIManager) delete m_ROIManager;
-    if(m_MaskingManager) delete m_MaskingManager;
-}
-
-void MapManagerNode::callbackSLAMMap(const nav_msgs::OccupancyGrid::ConstPtr &msg)
-{
-    m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::SLAM_LAYER, msg);
-}
-
-void MapManagerNode::callbackRapidMap( const nav_msgs::OccupancyGrid::ConstPtr& msg)
-{
-	m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::RAPID_MAP, msg);
-}
-
-void MapManagerNode::callbackOctomapMap( const nav_msgs::OccupancyGrid::ConstPtr& msg)
-{
-	m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::KINECT_LAYER, msg);
-
-//	nav_msgs::OccupancyGrid mergedMap;
-//	
-//   	int width = 701;
-//    int height = 701;
-//    float resolution = 0.05;
-//  
-//    int ByteSize = width * height;
-//    
-//    mergedMap.header.stamp = ros::Time::now();
-//    mergedMap.header.frame_id = "map";
-//    mergedMap.info.width = width;
-//    mergedMap.info.height = height;
-//    mergedMap.info.resolution = resolution;
-//    mergedMap.info.origin.position.x = -height*resolution/2;
-//    mergedMap.info.origin.position.y = -width*resolution/2;
-//    mergedMap.info.origin.orientation.w = 1.0;
-//    mergedMap.info.origin.orientation.x = 0.0;
-//    mergedMap.info.origin.orientation.y = 0.0;
-//    mergedMap.info.origin.orientation.z = 0.0;
-//  	mergedMap.data.resize(ByteSize,-1);	
-
-//	  for ( int y = 0; y < msg->info.height; y++ )
-//	  {
-//		for ( int x = 0; x < msg->info.width; x++ )
-//		{
-//		  	int i = x + y * msg->info.width;
-
-//	
-//			//if cell is occupied by kinect obstacle merge cell with merged map
-//			if(msg->data[i] == homer_mapnav_msgs::ModifyMap::BLOCKED)
-//			{
-
-//				Eigen::Vector2i point(x,y);
-//				geometry_msgs::Point tmp = map_tools::fromMapCoords( point ,msg->info.origin, msg->info.resolution);
-//				point = map_tools::toMapCoords(tmp , mergedMap.info.origin, mergedMap.info.resolution);
-//				int k = point.y() * mergedMap.info.width + point.x();
-//				mergedMap.data[k] = homer_mapnav_msgs::ModifyMap::DEPTH;
-//			}
-//		}  
-//	  }
-//	
-//	
-//	m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::KINECT_LAYER, boost::make_shared<nav_msgs::OccupancyGrid>(mergedMap));
-} 
-
-void MapManagerNode::callbackSaveMap(const std_msgs::String::ConstPtr &msg)
-{
-    MapGenerator map_saver(msg->data);
-    nav_msgs::OccupancyGrid::ConstPtr SLAMMap = m_MapManager->getMapLayer(homer_mapnav_msgs::MapLayers::SLAM_LAYER);
-    nav_msgs::OccupancyGrid::ConstPtr maskingMap = m_MapManager->getMapLayer(homer_mapnav_msgs::MapLayers::MASKING_LAYER);
-    map_saver.save(SLAMMap, maskingMap, m_POIManager->getList(), m_ROIManager->getList() );
-}
-
-void MapManagerNode::callbackLoadMap(const std_msgs::String::ConstPtr &msg)
-{
-    m_MapManager->clearMapLayers();
-    ROS_INFO_STREAM( "Loading map from file " << msg->data);
-    bool success;
-    MapServer map_loader(msg->data, success);
-    if(success)
-    {
-		  ros::Rate poll_rate(10);
-		  while(m_LoadedMapPublisher.getNumSubscribers() == 0)
-		  {
-		      poll_rate.sleep();
-		  }
-		  m_LoadedMapPublisher.publish(map_loader.getSLAMMap());
-		  m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::SLAM_LAYER, boost::make_shared<nav_msgs::OccupancyGrid>(map_loader.getSLAMMap()));
-		  nav_msgs::OccupancyGrid::ConstPtr maskingMap = boost::make_shared<nav_msgs::OccupancyGrid>(map_loader.getMaskingMap());
-		  m_MaskingManager->replaceMap(map_loader.getMaskingMap());
-		  if(maskingMap->data.size() != 0)
-		  {
-		      m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::MASKING_LAYER, maskingMap);
-		  }
-		  m_POIManager->replacePOIList(map_loader.getPois());
-		  m_POIManager->broadcastPoiList();
-		  m_ROIManager->replaceROIList(map_loader.getRois());
-		  m_ROIManager->broadcastRoiList();
-    }
-    else
-    {
-    	ROS_ERROR_STREAM("[MapManager] Could not open mapfile!!");
-    }
-}
-
-void MapManagerNode::callbackAddPOI(const homer_mapnav_msgs::PointOfInterest::ConstPtr &msg)
-{
-  	ROS_INFO_STREAM("callbackAddPOI");
-    m_POIManager->addPointOfInterest(msg);
-}
-
-void MapManagerNode::callbackModifyPOI(const homer_mapnav_msgs::ModifyPOI::ConstPtr &msg)
-{
-    m_POIManager->modifyPointOfInterest(msg);
-}
-
-void MapManagerNode::callbackDeletePOI(const std_msgs::String::ConstPtr &msg)
-{
-    m_POIManager->deletePointOfInterest(msg->data);
-}
-
-void MapManagerNode::callbackAddROI(const homer_mapnav_msgs::RegionOfInterest::ConstPtr &msg)
-{
-    m_ROIManager->addRegionOfInterest(msg);
-}
-
-void MapManagerNode::callbackModifyROI(const homer_mapnav_msgs::RegionOfInterest::ConstPtr &msg)
-{
-    m_ROIManager->modifyRegionOfInterest(msg);
-}
-
-void MapManagerNode::callbackDeleteROIbyName(const std_msgs::String::ConstPtr &msg)
-{
-  ROS_INFO_STREAM("Recieved /map_manager/delete_ROI_by_name");
-    if(m_ROIManager->deleteRegionOfInterest(msg->data))
-    {
-      ROS_INFO_STREAM("ROI deleted.");
-    }
-    else
-    {
-      ROS_WARN_STREAM("Could not delete ROI.");
-    }
-}
-
-void MapManagerNode::callbackDeleteROIbyID(const std_msgs::Int32::ConstPtr &msg)
-{
-    m_ROIManager->deleteRegionOfInterest(msg->data);
-}
-
-void MapManagerNode::callbackMapVisibility(const homer_mapnav_msgs::MapLayers::ConstPtr &msg)
-{
-    m_MapManager->toggleMapVisibility(msg->layer, msg->state);
-}
-
-void MapManagerNode::callbackModifyMap(const homer_mapnav_msgs::ModifyMap::ConstPtr &msg)
-{
-    nav_msgs::OccupancyGrid::ConstPtr maskingMap = m_MaskingManager->modifyMap(msg);
-    if(msg->mapLayer == homer_mapnav_msgs::MapLayers::SLAM_LAYER || msg->maskAction == homer_mapnav_msgs::ModifyMap::HIGH_SENSITIV)
-    {
-        m_MaskSlamMapPublisher.publish(maskingMap);
-        m_highSensitiveMap = maskingMap;
-    }
-    else
-    {
-        m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::MASKING_LAYER, maskingMap);
-    }
-}
-
-void MapManagerNode::callbackResetMaps(const std_msgs::Empty::ConstPtr &msg)
-{
-    nav_msgs::OccupancyGrid::ConstPtr maskingMap = m_MaskingManager->resetMap();
-    m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::MASKING_LAYER, maskingMap);
-}
-
-void MapManagerNode::callbackLaserScan(const sensor_msgs::LaserScan::ConstPtr &msg)
-{
-    m_MapManager->updateLaser(homer_mapnav_msgs::MapLayers::SICK_LAYER, msg);
-}
-
-void MapManagerNode::callbackBackLaser(const sensor_msgs::LaserScan::ConstPtr &msg)
-{
-    m_MapManager->updateLaser(homer_mapnav_msgs::MapLayers::HOKUYO_BACK, msg);
-}
-
-void MapManagerNode::callbackFrontLaser(const sensor_msgs::LaserScan::ConstPtr &msg)
-{
-	m_MapManager->updateLaser(homer_mapnav_msgs::MapLayers::HOKUYO_FRONT, msg);
-}
-
-bool MapManagerNode::getPOIsService(homer_mapnav_msgs::GetPointsOfInterest::Request& req,
-                                    homer_mapnav_msgs::GetPointsOfInterest::Response& res)
-{
-    res.poi_list.pois = m_POIManager->getList();
-    return true;
-}
-
-bool MapManagerNode::getROIsService(homer_mapnav_msgs::GetRegionsOfInterest::Request& req,
-                                    homer_mapnav_msgs::GetRegionsOfInterest::Response& res)
-{
-    res.roi_list.rois = m_ROIManager->getList();
-    return true;
-}
-
-bool MapManagerNode::pointInsideRoisService(homer_mapnav_msgs::PointInsideRois::Request& req,
-											homer_mapnav_msgs::PointInsideRois::Response& res)
-{
-	res.rois = m_ROIManager->pointInsideRegionOfInterest(req.point);
-	return true;
-}
-
-bool MapManagerNode::getROINameService(homer_mapnav_msgs::GetRegionOfInterestName::Request& req,
-											homer_mapnav_msgs::GetRegionOfInterestName::Response& res)
-{
-	res.name = m_ROIManager->getROIName(req.roi_id);
-	return true;
-}
-
-void MapManagerNode::poseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg)
-{
-	m_MapManager->updatePose(msg);
-	if(msg->header.stamp - m_lastROIPoll > ros::Duration(m_roi_polling_time) && m_roi_polling)
-	{
-		m_lastROIPoll = msg->header.stamp;
-		geometry_msgs::PointStamped posePoint; 
-		posePoint.header.frame_id="/map";
-		posePoint.header.stamp = msg->header.stamp; 
-		posePoint.point = msg->pose.position;
-		std::vector<homer_mapnav_msgs::RegionOfInterest> rois;
-		rois = m_ROIManager->pointInsideRegionOfInterest(posePoint);
-		bool found = false;
-		for(int i = 0; i < m_ids.size(); i++)
-		{
-			found = false;
-			for(int j = 0; j < rois.size(); j++)
-			{
-				if(m_ids[i] == rois[j].id)
-				{
-			  		rois.erase (rois.begin()+j);
-			  		found = true;
-					break;
-				}
-			}
-			if(!found)
-			{
-				homer_mapnav_msgs::RoiChange change; 
-				change.id = m_ids[i];
-				change.name = m_ROIManager->getROIName(m_ids[i]);
-				change.action = false; 
-				m_RoiPollPublisher.publish(change);
-				m_ids.erase(m_ids.begin()+i);
-				i--;
-			}
-		}
-		for(int i = 0; i < rois.size(); i++)
-		{
-			homer_mapnav_msgs::RoiChange change; 
-			change.id = rois[i].id;
-			change.name = m_ROIManager->getROIName(change.id);
-			change.action = true; 
-			m_RoiPollPublisher.publish(change);
-			m_ids.push_back(rois[i].id);
-		}
-	}	
-}
-
-
-bool MapManagerNode::saveMapService(homer_mapnav_msgs::SaveMap::Request& req,
-					homer_mapnav_msgs::SaveMap::Response& res)
-{
-	//ROS_INFO_STREAM("Saving map "<<req->folder);
-    MapGenerator map_saver(std::string(req.folder.data));
-    nav_msgs::OccupancyGrid::ConstPtr SLAMMap = m_MapManager->getMapLayer(homer_mapnav_msgs::MapLayers::SLAM_LAYER);
-    nav_msgs::OccupancyGrid::ConstPtr maskingMap = m_MapManager->getMapLayer(homer_mapnav_msgs::MapLayers::MASKING_LAYER);
-    map_saver.save(SLAMMap, maskingMap, m_POIManager->getList(), m_ROIManager->getList() );
-}
-
-bool MapManagerNode::loadMapService(homer_mapnav_msgs::LoadMap::Request& req,
-					homer_mapnav_msgs::LoadMap::Response& res)
-{
-
-    //load map file from config if present
-    std::string mapfile = std::string(req.filename.data);
-    if(mapfile != "")
-    {
-		ROS_INFO_STREAM("Loading map with filename: "<<mapfile);
-		std_msgs::String::Ptr mapfileMsg(new std_msgs::String);
-        mapfileMsg->data= mapfile;
-        callbackLoadMap ( mapfileMsg );
-    }
-	else
-	{
-		ROS_ERROR_STREAM("Map filename is empty. Could not load map");
-	}
-}
-
-bool MapManagerNode::resetMapService(std_srvs::Empty::Request& req,
-					std_srvs::Empty::Response& res)
-{
-	ROS_INFO_STREAM("Resetting current map");
-    nav_msgs::OccupancyGrid::ConstPtr maskingMap = m_MaskingManager->resetMap();
-    m_MapManager->updateMapLayer(homer_mapnav_msgs::MapLayers::MASKING_LAYER, maskingMap);
-}
-
-int main(int argc, char** argv)
-{
-    ros::init(argc, argv, "map_manager");
-    ros::NodeHandle nh;
-
-/*    char* pprofile    = std::getenv("MAPMANAGER_PROFILE");
-    if (pprofile)
-    {
-        ProfilerStart(pprofile);
-    }
-*/
-
-    MapManagerNode node(&nh);
-
-    ros::Rate loop_rate(10);
-    while (ros::ok())
-    {
-        try
-        {
-            ros::spinOnce();
-            loop_rate.sleep();
-        }
-        catch (exception &e)
-        {
-            std::cout<<"Exception in main loop"<<e.what()<<std::endl;
-        }
-    }
-/*    if (pprofile)
-    {
-        ProfilerStop();
-    }
-*/
-    return 0;
-}
-
diff --git a/homer_mapnav_msgs/CHANGELOG.rst b/homer_mapnav_msgs/CHANGELOG.rst
deleted file mode 100644
index 324dcbdf..00000000
--- a/homer_mapnav_msgs/CHANGELOG.rst
+++ /dev/null
@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package homer_mapnav_msgs
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-11-03)
-------------------
-* fixes
-* initial commit
-* Contributors: Niklas Yann Wettengel
diff --git a/homer_mapnav_msgs/CMakeLists.txt b/homer_mapnav_msgs/CMakeLists.txt
deleted file mode 100644
index 53485c0f..00000000
--- a/homer_mapnav_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,33 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-
-project(homer_mapnav_msgs)
-
-find_package(catkin REQUIRED 
-	COMPONENTS message_generation nav_msgs geometry_msgs)
-
-add_message_files(FILES
-	MapLayers.msg
-	ModifyMap.msg
-	PointOfInterest.msg
-	PointsOfInterest.msg
-	RegionOfInterest.msg
-	RegionsOfInterest.msg
-	ModifyPOI.msg
-	TargetUnreachable.msg
-	StartNavigation.msg
-	NavigateToPOI.msg
-	RoiChange.msg
-)
-
-add_service_files(FILES
-	GetPointsOfInterest.srv
-	GetRegionsOfInterest.srv
-	GetRegionOfInterestName.srv
-	PointInsideRois.srv
-	LoadMap.srv
-	SaveMap.srv
-)
-
-generate_messages(DEPENDENCIES geometry_msgs nav_msgs)
-
-catkin_package(CATKIN_DEPENDS message_runtime geometry_msgs nav_msgs)
diff --git a/homer_mapnav_msgs/README.md b/homer_mapnav_msgs/README.md
deleted file mode 100644
index 47aeac04..00000000
--- a/homer_mapnav_msgs/README.md
+++ /dev/null
@@ -1,244 +0,0 @@
-# map_messages
-
-
-## Introduction 
-
-Dieses Package enthält alle benutzerdefinierten Messages, die neben den in ROS enthaltenen Messages für das Mapping und die Navigation verwendet werden. Das Package enthält keine Node oder Librabries.
-
-## Messages 
-
-
-### PointOfInterest
-
-
-Die PointOfInterest-Message enthält alle Informationen, um einen POI zu erstellen, zu verschicken und zu speichern.
-
-~~~~~~ {.cpp}
-PointOfInterest.msg
-
-
-
-int32 DEFAULT=100
-int32 VICTIM=200
-int32 OBJECT=300
-int32 GRIPPABLE_OBJECT=400
-int32 PERSON=600
-int32 ROOMBA=700
-int32 HAZARD_MATERIAL=800
-int32 START_POSITION=900
-int32 START_ORIENTATION=1000
-
-int32 type
-string name
-string remarks
-
-geometry_msgs/Pose pose
-~~~~~~
-
-* `type` bezeichnet den Typ des POIs. Es kann eine der in dieser Message vorhandenen Konstanten verwendet werden. 
-* `name` bezeichnet den Namen des POIs. Dieser Name muss einzigartig sein, da die POIs über ihren Namen unterschieden werden.
-* `remarks`: Hier können Anmerkungen reingeschrieben werden. Diese werden in der GUI angezeigt.
-* `pose` bezeichnet die Position und Orientierung des POIS im /map-Frame.
-
-
-### ModifyPOI
-
-
-ModifyPOI ist dafür zuständig, einen vorhandenen POI zu verändern.
-
-~~~~~~ {.cpp}
-ModifyPOI.msg
-
-PointOfInterest poi
-string old_name
-~~~~~~
-
-* `poi` beinhaltet den POI, durch den der alte ersetzt werden soll.
-* `old_name` bezeichnet den Namen des POIs, der verändert werden soll.
-
-
-### TargetUnreachable
-
-
-
-TargetUnreachable wird von der Navigation versendet, sobald kein Pfad mehr zu einem Ziel geplant werden kann.
-
-
-~~~~~~ {.cpp}
-TargetUnreachable.msg
-
-int8 UNKNOWN=0
-int8 TILT_OCCURED=10
-int8 GRAVE_TILT_OCCURED=15
-int8 STALL_OCCURED=20
-int8 LASER_OBSTACLE=30
-
-int8 reason
-~~~~~~
-
-* `reason` kann einen von den in dieser Message definierten Konstanten annehmen und beschreibt den Grund des Fehlers.
-
-
-### SaveMap
-
-SaveMap wird versendet, wenn eine Karte gespeichert oder geladen werden soll und beinhaltet den Dateipfad zum Kartenordner.
-
-
-~~~~~~ {.cpp}
-SaveMap.msg
-
-string filename
-~~~~~~
-
-* `filename` bezeichnet den Dateipfad zum Kartenordner.
-
-
-### PointsOfInterest
-
-
-PointsOfInterest wird verwendet, um alle aktuellen POIs zu versenden.
-
-
-~~~~~~ {.cpp}
-PointsOfInterest.msg
-
-PointOfInterest[] pois
-~~~~~~
-
-* `pois` beinhaltet einen Vektor mit allen aktuellen POIs.
-
-
-### StartNavigation
-
-
-StartNavigation ist eine von zwei Methoden, um eine Navigation zu starten. Hier wird Der POI mitgegeben, zu dem der Roboter navigieren soll.
-
-
-~~~~~~ {.cpp}
-StartNavigation.msg
-
-geometry_msgs/Pose goal
-float32 distance_to_target
-bool skip_final_turn
-bool fast_planning
-~~~~~~
-
-* `goal` beinhaltet den Ziel-POI
-* `distance_to_target`: Hier kann angegeben werden, ab welcher Distanz zum Ziel die Navigation als erfolgreich abgeschlossen wird. 
-* `skip_final_turn`: Hier kann eingestellt werden, ob der Roboter sich am Ziel-POI in Richtund der POI-Orientierung ausrichten soll oder nicht.
-* `fast_planning`: Mit dieser Option kann ein experimentelles "Schnelles Planen" eingeschaltet werden. Es werden nur Pfade geplant, die sich in einer Boundingbox zwischen Roboter und Zielposition befinden.
-
-
-### MapLayers
-
-MapLayers definiert die vorhanden Kartenebenen als Konstanten und kann zudem verwendet werden, um einzelne Ebenen ein- oder auszuschalten.
-
-
-~~~~~~ {.cpp}
-MapLayers.msg
-
-int32 SLAM_LAYER=0
-int32 MASKING_LAYER=1
-int32 KINECT_LAYER=2
-int32 SICK_LAYER=3
-
-int32 layer
-bool state
-~~~~~~
-
-* `layer` enthält die Kartenebenen-ID und kann einen Wert dern in dieser Message definierten Konstanten annehmen.
-* `state` besagt, ob die ausgewählte Kartenebene aktiviert sein soll.
-
-
-
-
-### NavigateToPOI
-
-
-NavigateToPOI ist die zweite Art eine Navigation zu starten. Anstatt das gesamte POI-Objekt mitzugeben, wird nur der Name eines bereits im map_manger vorhandenen POIs mitgegeben, der daraufhin von der Navigation nachgeschlagen wird.
-
-~~~~~~ {.cpp}
-NavigateToPOI.msg
-
-string poi_name
-float32 distance_to_target
-bool skip_final_turn
-~~~~~~
-
-* `poi_name` beschreibt den Namen des POIS, zu dem navigiert werden soll.
-* `distance_to_target` siehe StartNavigation
-* `skip_final_turn` siehe StartNavigation
-
-
-### ModifyMap
-
-
-Mit dieser Message können Bereiche in einzelnen Kartenebenen verändert werden.
-
-
-~~~~~~ {.cpp}
-ModifyMap.msg
-
-int32 FREE = 0         
-int32 BLOCKED = 100    
-int32 OBSTACLE = 99     
-int32 NOT_MASKED = -1 
-
-geometry_msgs/Point[] region
-int32 maskAction
-int32 mapLayer 
-~~~~~~
-
-* `region` beschreibt die Eckpunkte des Polygons, das maskiert werden soll.
-* `maskAction` kann einen Wert der in dieser Message definierten Konstanten annehmen. OBSTACLE  wird in der Karte rot dargestellt. Mit NOT_MASKED können bereits maskierte Bereiche wieder gelöscht werden.
-* `mapLayer` enthält die ID der zu verändernden Kartenebene. Die IDs sind in der Message MapLayers definiert.
-
-
-
-### DeletePointOfInterest
-
-Löscht einen vorhandenen POI.
-
-
-~~~~~~ {.cpp}
-DeletePointOfInterest.msg
-
-string name
-~~~~~~
-
-* `name` beschreibt den Namen des zu löschenden POIs.
-
-
-### DoMapping
-
-
-
-Mit dieser Message kann das Mapping ein- oder ausgeschaltet werden.
-
-~~~~~~ {.cpp}
-DoMapping.msg
-
-bool state
-~~~~~~
-
-* `state` beinhaltet den Zustand des Mappings (true = an, false = off).
-
-
-## Services 
-
-### GetPointsOfInterest
-
-
-Über diesen Service kann die aktuelle Liste der POIs angefordert werden.
-
-
-~~~~~~ {.cpp}
-GetPointsOfInterest.srv
-
----
-PointsOfInterest poi_list
-~~~~~~
-
-* `poi_list` beinhaltet einen Vektor mit allen aktuellen POIs.
-
-
diff --git a/homer_mapnav_msgs/msg/MapLayers.msg b/homer_mapnav_msgs/msg/MapLayers.msg
deleted file mode 100644
index f39bfdce..00000000
--- a/homer_mapnav_msgs/msg/MapLayers.msg
+++ /dev/null
@@ -1,10 +0,0 @@
-int32 SLAM_LAYER=0
-int32 MASKING_LAYER=1
-int32 KINECT_LAYER=2
-int32 SICK_LAYER=3
-int32 HOKUYO_BACK=4
-int32 HOKUYO_FRONT=5
-int32 RAPID_MAP=6
-
-int32 layer    # map layer name
-bool state 	# visibility state (on/off)
diff --git a/homer_mapnav_msgs/msg/ModifyMap.msg b/homer_mapnav_msgs/msg/ModifyMap.msg
deleted file mode 100644
index 0db7b6d8..00000000
--- a/homer_mapnav_msgs/msg/ModifyMap.msg
+++ /dev/null
@@ -1,21 +0,0 @@
-int32 HIGH_SENSITIV = -2  # Area is highly sensitiv for Obstacles
-int32 NOT_MASKED = -1     # Area is not masked: use slam map
-int32 FREE = 0            # Area is free
-int32 OBSTACLE = 99       # Area is occupied by an obstacle (e.g. 3d scan) 
-int32 BLOCKED = 100       # Area blocked by user (use UNBLOCK to .. )
-int32 HOKUYO = 101		  # Area is blocked by Hokuyo Obstacle
-int32 KINECT = 102 		  # Area is blocked by Kinect Obstacle
-int32 DEPTH = 102		  # Area is blocked by Depth Camera Obstacle
-int32 RAPID = 103		  # Area is blocked by Rapid Mapping
-
-
-
-int32 SET_FREE = 0      	  # Mark area free, area must not be BLOCKED
-int32 SET_BLOCKED = 100       # Block area
-int32 SET_OBSTACLE = 99   	  # Mark area as occupied by an obstacle (e.g. 3d scan)
-int32 SET_HIGH_SENSITIV = -2  # Mark Area as highly sensitiv for Obstacles
-
-
-geometry_msgs/Point[] region
-int32 maskAction
-int32 mapLayer #currently not used. modifications only take place in the masking map layer
diff --git a/homer_mapnav_msgs/msg/ModifyPOI.msg b/homer_mapnav_msgs/msg/ModifyPOI.msg
deleted file mode 100644
index 59786f4b..00000000
--- a/homer_mapnav_msgs/msg/ModifyPOI.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-PointOfInterest poi
-string old_name #necessary if name of poi is changed
diff --git a/homer_mapnav_msgs/msg/NavigateToPOI.msg b/homer_mapnav_msgs/msg/NavigateToPOI.msg
deleted file mode 100644
index 342f1d1f..00000000
--- a/homer_mapnav_msgs/msg/NavigateToPOI.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-string poi_name
-float32 distance_to_target
-bool skip_final_turn
diff --git a/homer_mapnav_msgs/msg/PointOfInterest.msg b/homer_mapnav_msgs/msg/PointOfInterest.msg
deleted file mode 100644
index af6654c8..00000000
--- a/homer_mapnav_msgs/msg/PointOfInterest.msg
+++ /dev/null
@@ -1,13 +0,0 @@
-#POI types
-int32 DEFAULT=100
-int32 OBJECT=300
-int32 GRIPPABLE_OBJECT=400
-int32 PERSON=600
-int32 START_POSITION=900
-int32 START_ORIENTATION=1000
-
-int32 type
-string name
-string remarks
-
-geometry_msgs/Pose pose
diff --git a/homer_mapnav_msgs/msg/PointsOfInterest.msg b/homer_mapnav_msgs/msg/PointsOfInterest.msg
deleted file mode 100644
index a2cfa937..00000000
--- a/homer_mapnav_msgs/msg/PointsOfInterest.msg
+++ /dev/null
@@ -1 +0,0 @@
-PointOfInterest[] pois
diff --git a/homer_mapnav_msgs/msg/RegionOfInterest.msg b/homer_mapnav_msgs/msg/RegionOfInterest.msg
deleted file mode 100644
index 6b4d3058..00000000
--- a/homer_mapnav_msgs/msg/RegionOfInterest.msg
+++ /dev/null
@@ -1,12 +0,0 @@
-#ROI types
-int32 DEFAULT=100
-int32 ROOM=200
-int32 AREA=300
-int32 FORBIDDEN_AREA=400
-
-int32 type
-string name
-string remarks
-
-int32 id
-geometry_msgs/Point[4] points
diff --git a/homer_mapnav_msgs/msg/RegionsOfInterest.msg b/homer_mapnav_msgs/msg/RegionsOfInterest.msg
deleted file mode 100644
index 73c0b1b0..00000000
--- a/homer_mapnav_msgs/msg/RegionsOfInterest.msg
+++ /dev/null
@@ -1 +0,0 @@
-RegionOfInterest[] rois
diff --git a/homer_mapnav_msgs/msg/RoiChange.msg b/homer_mapnav_msgs/msg/RoiChange.msg
deleted file mode 100644
index 7074ae58..00000000
--- a/homer_mapnav_msgs/msg/RoiChange.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-int32 id
-string name
-bool action # true-> enter, false-> left
diff --git a/homer_mapnav_msgs/msg/StartNavigation.msg b/homer_mapnav_msgs/msg/StartNavigation.msg
deleted file mode 100644
index cff7a639..00000000
--- a/homer_mapnav_msgs/msg/StartNavigation.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-geometry_msgs/Pose goal
-float32 distance_to_target #default should bei 0.01 [m]
-bool skip_final_turn
-bool fast_planning #path planning within bounding box containing robot pose and target
diff --git a/homer_mapnav_msgs/msg/TargetUnreachable.msg b/homer_mapnav_msgs/msg/TargetUnreachable.msg
deleted file mode 100644
index f69ddf67..00000000
--- a/homer_mapnav_msgs/msg/TargetUnreachable.msg
+++ /dev/null
@@ -1,9 +0,0 @@
-int8 UNKNOWN=0
-int8 TILT_OCCURED=10
-int8 GRAVE_TILT_OCCURED=15
-int8 STALL_OCCURED=20
-int8 LASER_OBSTACLE=30
-int8 LASER_TIMEOUT=35
-int8 NO_PATH_FOUND=40
-
-int8 reason
diff --git a/homer_mapnav_msgs/package.xml b/homer_mapnav_msgs/package.xml
deleted file mode 100644
index f1c2ef8a..00000000
--- a/homer_mapnav_msgs/package.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<package>
-  <name>homer_mapnav_msgs</name>
-  <version>0.1.1</version>
-  <description> homer_mapnav_msgs contains the messages used for mapping and navigation
-  </description>
-  <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
-  <author email="mknauf@uni-koblenz.de">Malte Knauf</author>
-  <license>GPLv3</license>
-  
-  <buildtool_depend>catkin</buildtool_depend>
- 
-  <build_depend>message_generation</build_depend>
-  <build_depend>genmsg</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-</package>
-
-
diff --git a/homer_mapnav_msgs/readme.pdf b/homer_mapnav_msgs/readme.pdf
deleted file mode 100644
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diff --git a/homer_mapnav_msgs/srv/GetPointsOfInterest.srv b/homer_mapnav_msgs/srv/GetPointsOfInterest.srv
deleted file mode 100644
index e7a3c1a7..00000000
--- a/homer_mapnav_msgs/srv/GetPointsOfInterest.srv
+++ /dev/null
@@ -1,2 +0,0 @@
----
-PointsOfInterest poi_list
diff --git a/homer_mapnav_msgs/srv/GetRegionOfInterestName.srv b/homer_mapnav_msgs/srv/GetRegionOfInterestName.srv
deleted file mode 100644
index 9bf4c9a5..00000000
--- a/homer_mapnav_msgs/srv/GetRegionOfInterestName.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-int32 roi_id
----
-string name
diff --git a/homer_mapnav_msgs/srv/GetRegionsOfInterest.srv b/homer_mapnav_msgs/srv/GetRegionsOfInterest.srv
deleted file mode 100644
index f98be082..00000000
--- a/homer_mapnav_msgs/srv/GetRegionsOfInterest.srv
+++ /dev/null
@@ -1,2 +0,0 @@
----
-RegionsOfInterest roi_list
diff --git a/homer_mapnav_msgs/srv/LoadMap.srv b/homer_mapnav_msgs/srv/LoadMap.srv
deleted file mode 100644
index ef2e165e..00000000
--- a/homer_mapnav_msgs/srv/LoadMap.srv
+++ /dev/null
@@ -1,2 +0,0 @@
-std_msgs/String filename
----
diff --git a/homer_mapnav_msgs/srv/PointInsideRois.srv b/homer_mapnav_msgs/srv/PointInsideRois.srv
deleted file mode 100644
index 2b371741..00000000
--- a/homer_mapnav_msgs/srv/PointInsideRois.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-geometry_msgs/PointStamped point
----
-homer_mapnav_msgs/RegionOfInterest[]  rois
diff --git a/homer_mapnav_msgs/srv/SaveMap.srv b/homer_mapnav_msgs/srv/SaveMap.srv
deleted file mode 100644
index 67831529..00000000
--- a/homer_mapnav_msgs/srv/SaveMap.srv
+++ /dev/null
@@ -1,2 +0,0 @@
-std_msgs/String folder
----
diff --git a/homer_mapping/CHANGELOG.rst b/homer_mapping/CHANGELOG.rst
deleted file mode 100644
index 4b7831ec..00000000
--- a/homer_mapping/CHANGELOG.rst
+++ /dev/null
@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package homer_mapping
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-11-03)
-------------------
-* fixes
-* initial commit
-* Contributors: Niklas Yann Wettengel
diff --git a/homer_mapping/CMakeLists.txt b/homer_mapping/CMakeLists.txt
deleted file mode 100644
index fee377db..00000000
--- a/homer_mapping/CMakeLists.txt
+++ /dev/null
@@ -1,91 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(homer_mapping)
-
-find_package(
-	catkin REQUIRED COMPONENTS
-		roscpp
-		homer_mapnav_msgs
-		sensor_msgs
-		nav_msgs
-		homer_nav_libs
-		tf
-		roslib
-)
-find_package(OpenMP)
-if (OPENMP_FOUND)
-    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-endif()
-find_package(tf REQUIRED)
-
-set(CMAKE_BUILD_TYPE Release)
-
-
-include_directories(
-	include
-	${catkin_INCLUDE_DIRS}
-)
-
-catkin_package(
-	INCLUDE_DIRS include
-	CATKIN_DEPENDS
-		roscpp
-		homer_mapnav_msgs
-		homer_nav_libs
-		nav_msgs
-		tf
-		roslib
-		LIBRARIES homerOccupancyMap homerParticleFilter
-)
-
-add_library(homerOccupancyMap
-	src/OccupancyMap/OccupancyMap.cpp
-	
-)
-
-target_link_libraries(
-	homerOccupancyMap
-		${catkin_LIBRARIES}
-		${tf_LIBRARIES}
-)
-set(
-	ParticleFilter_SRC
-		src/ParticleFilter/HyperSlamFilter.cpp
-		src/ParticleFilter/SlamParticle.cpp
-		src/ParticleFilter/SlamFilter.cpp
-		src/ParticleFilter/Particle.cpp
-)
-
-add_library(
-	homerParticleFilter
-		${ParticleFilter_SRC}
-)
-
-target_link_libraries(
-	homerParticleFilter
-		${catkin_LIBRARIES}
-)
-
-add_executable(homer_mapping src/slam_node.cpp)
-
-target_link_libraries(
-	homer_mapping
-		${catkin_LIBRARIES}
-		homerParticleFilter
-		homerOccupancyMap
-)
-
-add_dependencies(
-	homer_mapping
-		${catkin_EXPORTED_TARGETS}
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-
-install(TARGETS homerOccupancyMap homerParticleFilter homer_mapping
-	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
diff --git a/homer_mapping/README.md b/homer_mapping/README.md
deleted file mode 100644
index e2781906..00000000
--- a/homer_mapping/README.md
+++ /dev/null
@@ -1,67 +0,0 @@
-# homer_mapping
-
-## Introduction 
-
-Das Package homer_mapping besteht aus einer gleichnamigen Node. Diese ist für die Lokalisierung und Kartierung des Roboters mit Hilfe der Odometrie des Roboters und eines Laserscanners zuständig.
-Das SLAM-Problem wird durch den Partikelfilter-Algorithmus gelöst.
-Die Node erwartet kontiniuierlich Odometrie-Werte und Laserdaten und verschickt in konstanten Abständen korrigierte Poseschätzungen über das Topic /pose und tf-Transformation /map -> /base_link.
-Zudem kann der Roboter sich auf einer vorher geladenen Karte lokalisieren, sowie eine aktuell erstellte Karte abgespeichert werden.
-Es besteht die Option, die Kartierung ein- oder auszuschalten. Beim Laden einer Karte wird die Kartierung automatisch ausgeschaltet.
-
-## Topics 
-
-
-
-
-
-
-#### Publisher 
-* `/pose (geometry_msgs/PoseStamped)`: Die aktuell ermittelte Pose relativ zu Karte (im Frame /map) des Roboters aus dem Partikelfilter.
-* `/homer_mapping/slam_map (nav_msgs/OccupancyGrid)`: Das aktuelle Karte des Roboters.
-
-
-
-#### Subscriber
-
-* `/odom (nav_msgs/Odometry)`: Die aktuellen Odometrie-Werte vom Roboter. Diese werden für die Partikelfilter benötigt.
-  `/scan (sensor_msgs/LaserScan)`: Die aktuelle Lasermessung, die vom Partikelfilter benötigt wird.
-* `/homer_mapping/userdef_pose (geometry_msgs/Pose)`: Mit diesem Topic kann die die aktuell vom Partikelfilter berechnete Pose auf eine benutzerdefinierte gesetzt werden. Der Partikelfilter arbeitet nun mit dieser weiter.
-* `/homer_mapping/do_mapping (map_messages/DoMapping)`: Mit diesem Topic kann die Kartierung ein- oder ausgeschaltet werden.
-* `/map_manager/reset_maps (std_msgs/Empty)`: Hiermit kann die aktuelle Karte zurückgesetzt werden.
-* `/map_manager/loaded_map (nav_msgs/OccupancyGrid)`: Mit diesem Topic kann die aktuelle Karte durch eine andere (geladene) Karte ausgetauscht werden.
-* `/map_manager/mask_slam (nav_msgs/OccupancyGrid)`: Im OccupancyGrid dieses Topics stehen Informationen, welche Teile der aktuellen Karte durch andere Werte (frei oder belegt) ersetzt werden sollen.
-
-## Launch Files 
-
-* `homer_mapping.launch`: Dieses Launchfile lädt die Parameterdatei `homer_mapping.yaml` und startet die Node homer_mapping sowie die Node map_manager im gleichnamigen Package.
-* `homer_mapping_rviz.launch`:`Dieses Launchfile hat die gleiche Funktionalität wie das obige, wobei es zusätzlich rviz startet.
-
-## Parameter 
-
-
-### homer_mapping.yaml
-
-
-
-* `/homer_mapping/size:` Size beschreibt die Größe einer Seite der Karte in Metern. Die Karte ist quadratisch
-* `/homer_mapping/resolution:` Resolution ist die Länge einer (quadratischen) Zelle der Karte in Metern
-* `/homer_mapping/backside_checking:` Wenn auf "true" gesetzt, wird verhindet, dass Vorder- und Rückseite einer dickeren Wand auf die gematcht werden.
-* `/homer_mapping/obstacle_borders:` Wenn auf "true" gesetzt, wird um eingetragene Hindernisse ein kleiner Rand unbekanntes Gebiet gelassen.
-* `/homer_mapping/measure_sampling_step:` Minimale Distanz in Metern, die zwischen zwei aufeinanderfolgenden Messpunkten im Laserscan vorhanden sein muss, um sie für die Poseberechnung zu verwenden
-* `/homer_mapping/laser_scanner/free_reading_distance:` Minimale Distanz in Metern, die als hindernissfrei angenommen wird, wenn der aktuelle Messpunkt fehlerhaft ist
-* `/particlefilter/error_values/rotation_error_rotating:` Rotationsfehler in Prozent, der beim Rotieren des Roboters auftritt
-* `/particlefilter/error_values/rotation_error_translating:` Rotationsfehler in Grad, der beim Fahren von einem Meter auftritt
-* `/particlefilter/error_values/translation_error_translating:` Translationsfehler in Prozent, der beim Geradeausfahren auftritt
-* `/particlefilter/error_values/translation_error_rotating:` Translationsfehler in Metern, der beim Rotieren von einem Grad auftritt
-* `/particlefilter/error_values/move_jitter_while_turning:` Streuung der neu berechneten Pose in Meter pro Grad Drehung
-* `/particlefilter/hyper_slamfilter/particlefilter_num:` Anzahl der Partikelfilter im Hyperpartikelfilter (ist standardmäßig auf 1 gesetzt)
-* `/particlefilter/particle_num:` Anzahl der Partikel in jedem Partikelfilter
-* `/particlefilter/max_rotation_per_second:` Maximale Rotation in Radiant pro Sekunde, die der Roboter sich drehen darf, ohne dass das Mapping ausgesetzt wird
-* `/particlefilter/wait_time:` Minimale Zeit, die zwischen zwei Mapping-Schritten verstrichen sein muss
-* `/particlefilter/update_min_move_angle:` Minimale Rotation in Grad, die durchgeführt werden muss, damit ein Partikelfilterschritt ausgeführt wird...
-* `/particlefilter/update_min_move_dist:` ...oder minimale Distanz in Metern, die der Roboter geradeaus fährt...
-* `/particlefilter/max_update_interval:` ...oder minimale Wartezeit, in der der Roboter still steht.
-* `/selflocalization/scatter_var_xy:` Streuung der Partikel in x/y-Richtung in Metern beim Setzen einer benutzerdefinierten Pose
-* `/selflocalization/scatter_var_theta:` Streuung der Ausrichtung der Partikel in Radiant beim Setzen einer benutzerdefinierten Pose
-
-
diff --git a/homer_mapping/config/homer_mapping.yaml b/homer_mapping/config/homer_mapping.yaml
deleted file mode 100644
index a7e2bf69..00000000
--- a/homer_mapping/config/homer_mapping.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-/homer_mapping/size: 40                                          # size of one edge of the map in m. map is quadratic
-/homer_mapping/resolution: 0.05                                  # m meter per cell
-/homer_mapping/max_laser:  20.0                                   # m max range for including range into map
-
-#map config values
-/homer_mapping/backside_checking: false                           # Enable checking to avoid matching front- and backside of obstacles, e.g. walls. Useful when creating high resolution maps
-/homer_mapping/obstacle_borders: true                            # Leaves a small border around obstacles unchanged when inserting a laser scan. Improves stability of generated map
-/homer_mapping/measure_sampling_step: 0.1                        # m Minimum distance in m between two samples for probability calculation
-
-/homer_mapping/laser_scanner/free_reading_distance: 0.8          # Minimum distance in m to be classified as free in case of errorneous measurement
-
-/particlefilter/error_values/rotation_error_rotating: 10.0       # percent
-/particlefilter/error_values/rotation_error_translating: 2.0     # degrees per meter
-/particlefilter/error_values/translation_error_translating: 10.0 # percent
-/particlefilter/error_values/translation_error_rotating: 0.05    # m per degree
-/particlefilter/error_values/move_jitter_while_turning: 0.1      # m per degree
-
-/particlefilter/hyper_slamfilter/particlefilter_num: 1
-
-/particlefilter/particle_num: 1000
-/particlefilter/max_rotation_per_second: 0.4                     # maximal rotation in radiants if mapping is performed. if rotation is bigger, mapping is interrupted
-/particlefilter/wait_time: 0.05                                  # minimum time to wait between two slam steps in seconds
-
-#the map is only updated when the robot has turned a minimal angle, has moved a minimal distance or a maximal time has passed
-/particlefilter/update_min_move_angle: 2                         # degrees
-/particlefilter/update_min_move_dist: 0.05                       # m
-/particlefilter/max_update_interval: 0.5                         # sec
-
-/selflocalization/scatter_var_xy: 0.1                            # m
-/selflocalization/scatter_var_theta: 0.2                         # radiants
-
-
-/map_manager/roi_updates: true                                   # toggles if a entering or exiting of a roi is beeing published
-map_manager/roi_polling_time: 0.5                                # sec timeinterval after which the roi status is checked 
diff --git a/homer_mapping/include/homer_mapping/OccupancyMap/OccupancyMap.h b/homer_mapping/include/homer_mapping/OccupancyMap/OccupancyMap.h
deleted file mode 100644
index 0235e860..00000000
--- a/homer_mapping/include/homer_mapping/OccupancyMap/OccupancyMap.h
+++ /dev/null
@@ -1,385 +0,0 @@
-#ifndef OCCUPANCYMAP_H
-#define OCCUPANCYMAP_H
-
-#include <vector>
-#include <list>
-#include <string>
-#include <iostream>
-
-#include <Eigen/Geometry>
-
-#include <homer_nav_libs/Math/Pose.h>
-#include <homer_nav_libs/Math/Point2D.h>
-#include <homer_nav_libs/Math/Box2D.h>
-
-#include <nav_msgs/OccupancyGrid.h>
-#include <tf/transform_listener.h>
-
-#include <sensor_msgs/LaserScan.h>
-
-class QImage;
-
-using namespace std;
-
-/**
- * Structure to store the start and end point of each laser range in the current scan
- * @param sensorPos position of the laser in the current scan (in base_link frame)
- * @param endPos position of the end point of the laser frame in the current scan (in base_link frame)
- * @param free indicates if the laser range hit an obstacle (false) or not (true)
- */
-struct RangeMeasurement
-{
-  geometry_msgs::Point sensorPos;
-  geometry_msgs::Point endPos;
-  bool free;
-};
-
-/**
- * Used in struct MeasurePoint to specify if a measurement point is at the border of a scan segment
- */
-enum BorderType
-{
-  NoBorder,
-  LeftBorder,
-  RightBorder
-};
-
-/**
- * Structure to store a measurement point for computeLaserScanProbability()
- * @param hitPos Position of measured obstacle (robot coordinates)
- * @param frontPos Position to check for NOT_KNOWN terrain
- *                   This is needed to assure that front- and backside of obstacles can be distinguished
- * @param border specifies if the measurement point is at the border of a scan segment
- */
-struct MeasurePoint
-{
-  Point2D hitPos;
-  Point2D frontPos;
-  BorderType borderType;
-};
-
-/**
- * @class OccupancyMap
- *
- * @author Malte Knauf, Stephan Wirth, Susanne Maur (RX), David Gossow (RX), Susanne Thierfelder (R16)
- *
- * @brief This class holds and manages an occupancy map.
- *
- * An occupancy map is a map where free space and occupied space are marked. This map stores values
- * for free and occupied space in an (2D-)unsigned char array. This array can be seen as a graylevel image.
- * The darker a cell, the higher the probability that this cell is occupied by an obstacle.
- * The size of the map and the size of one cell can be defined in the setup file with the values
- * MAP_SIZE and MAP_CELL_SIZE. The origin of the coordinate system of the map is the center of the array.
- * The x-axis is heading front, the y-axis points to the left (like the robot's coordinate system).
- * The mapping data has to be inserted via the method insertLaserData().
- */
-class OccupancyMap {
-
-  public:
-    static const int8_t INACCESSIBLE = 100;
-    static const int8_t OBSTACLE = 99;
-    static const int8_t OCCUPIED = 98;
-    static const int8_t UNKNOWN = 50;
-    static const int8_t NOT_SEEN_YET = -1;
-    static const int8_t FREE = 0;
-
-    /**
-     * The default constructor calls initMembers().
-     */
-    OccupancyMap();
-
-    /**
-     * Constructor for a loaded map.
-     */
-    OccupancyMap(float*& occupancyProbability, geometry_msgs::Pose origin, float resolution, int pixelSize, Box2D<int> exploredRegion);
-
-    /**
-     * Copy constructor, copies all members inclusive the arrays that lie behind the pointers.
-     * @param occupancyMap Source for copying
-     */
-    OccupancyMap(const OccupancyMap& occupancyMap);
-
-    /**
-     * Method to init all members with default values from the configuration file. All arrays are initialized.
-     */
-    void initMembers();
-
-    /**
-     * Assignment operator, copies all members (deep copy!)
-     * @param source Source to copy from
-     * @return Reference to copied OccupancyMap
-     */
-    OccupancyMap& operator=(const OccupancyMap& source);
-
-    /**
-     * Deletes all dynamically allocated memory.
-     */
-    ~OccupancyMap();
-
-    /*
-    /**
-     * @return The resolution of the map in m.
-     */
-//    int resolution() const;
-
-    geometry_msgs::Pose origin() const;
-
-    /**
-     * @return Width of the map.
-     */
-    int width() const;
-
-    /**
-     * @return Height of the map.
-     */
-    int height() const;
-    
-    /**
-     * This method is used to reset all HighSensitive areas
-     */
-    void resetHighSensitive();
-
-    /**
-     * @return Probability of pixel p being occupied.
-     */
-    float getOccupancyProbability(Eigen::Vector2i p);
-
-    /**
-     * @brief This function inserts the data of a laserscan into the map.
-     *
-     * With the given data, start and end cells of a laser beam are computed and given to the
-     * method markLineFree().
-     * If the measurement is smaller than VALID_MAX_RANGE, markOccupied() is called for the endpoint.
-     * @param laserData The laser data msg.
-     */
-    void insertLaserData( sensor_msgs::LaserScan::ConstPtr laserData, tf::Transform transform);
-
-    void insertRanges( vector<RangeMeasurement> ranges , ros::Time stamp = ros::Time::now() );
-
-    /**
-     * @brief gives a list specially processed coordinates to be used for computeLaserScanProbability
-     */
-    std::vector<MeasurePoint> getMeasurePoints( sensor_msgs::LaserScanConstPtr laserData );
-
-    /**
-     * This method computes a score that describes how good the given hypothesis matches with the map
-     * @param robotPose The pose of the robot
-     * @return The "fitting factor". The higher the factor, the better the fitting.
-     *         This factor is NOT normalized, it is a positive float between 0 and FLOAT_MAX
-     */
-    float computeScore( Pose robotPose, std::vector<MeasurePoint> measurePoints );
-
-    /**
-     * @return QImage of size m_PixelSize, m_PixelSize with values of m_OccupancyProbability scaled to 0-254
-     */
-    QImage getProbabilityQImage(int trancparencyThreshold, bool showInaccessible) const;
-
-    //puma2::ColorImageRGB8* getUpdateImage( bool withMap=true ); TODO
-
-    /**
-     * Returns an "image" of the obstacles e.g. seen in the 3D scans
-     * @returns image with dark red dots in areas where the obstacles were seen
-     */
-    //puma2::ColorImageRGB8* getObstacleImage ( ); TODO
-
-    /**
-     * Returns an "image" of occupancy probability image.
-     * @param[out] data vector containing occupancy probabilities. 0 = free, 100 = occupied, -1 = NOT_KNOWN
-     * @param[out] width Width of data array
-     * @param[out] height Height of data array
-     * @param[out] resolution Resolution of the map (m_Resolution)
-     */
-    void getOccupancyProbabilityImage(vector<int8_t> &data, int& width, int& height, float &resolution);
-
-    /**
-     * This method marks free the position of the robot (according to its dimensions).
-     */
-    void markRobotPositionFree();
-
-    /**
-     * @brief Computes the contrast of a single pixel.
-     * @param prob probability value (100=occupied, 50=NOT_KNOWN, 0=free) of a pixel.
-     * @return Contrast value from 0 (no contrast) to 1 (max. contrast) of this pixel
-     */
-    double contrastFromProbability (int8_t prob);
-
-    /**
-     * @brief This method computes the sharpness of the occupancy grid
-     * @return Contrast value from 0 (no contrast) to 1 (max. contrast) of the map
-     */
-    double evaluateByContrast();
-
-    /// GETTERS
-
-    Box2D<int> getExploredRegion() { return m_ExploredRegion; }
-    Box2D<int> getChangedRegion() { return m_ChangedRegion; }
-
-    /**
-     * Sets cells of this map to free or occupied according to maskMap
-     */
-     void applyMasking(const nav_msgs::OccupancyGrid::ConstPtr &msg);
-
-
-  protected:
-
-    /**
-     * This method increments m_MeasurementCount for pixel p.
-     * @param p Pixel that has been measured.
-     */
-    void incrementMeasurementCount(Eigen::Vector2i p);
-
-    /**
-     * This method increments the occupancy count int m_OccupancyCount for pixel p.
-     * @param p Occupied pixel.
-     */
-    void incrementOccupancyCount(Eigen::Vector2i p);
-
-    /**
-     * This method increments m_MeasurementCount and if neccessary m_OccupancyCount for all pixels.
-     */
-    void applyChanges();
-
-    void clearChanges();
-
-    /**
-     * This method scales the counts of all pixels down to the given value.
-     * @param maxCount Maximum value to which all counts are set.
-     */
-    void scaleDownCounts(int maxCount);
-
-   /**
-     * This function paints a line from a start pixel to an end pixel.
-     * The computation is made with the Bresenham algorithm.
-     * @param data array on which the line shall be painted
-     * @param startPixel starting coordinates of the beam
-     * @param endPixel ending coordinates of the beam
-     * @param value The value with which the lines are marked.
-     */
-    template<class DataT>
-    void drawLine(DataT* data, Eigen::Vector2i& startPixel, Eigen::Vector2i& endPixel, char value);
-
-    /**
-     * This method computes the values for m_OccupancyProbabilities from m_MeasurementCount and m_OccupancyCount.
-     */
-    void computeOccupancyProbabilities();
-
-    /**
-     * This method sets all values of m_CurrentChanges to NO_CHANGE.
-     */
-    void clearCurrentChanges();
-
-    /**
-     * This method resets all values of m_MinChangeX, m_MaxChangeX, m_MinChangeY and m_MaxChangeY.
-     * This means that no current changes are assumed.
-     */
-    void resetChangedRegion();
-
-    /**
-     * This method updates the values of m_MinChangeX, m_MaxChangeX, m_MinChangeY and m_MaxChangeY to current changes.
-     * The area around the current robot pose will be included to the changed region.
-     * @param robotPose The current pose of the robot.
-     */
-    void updateChangedRegion(Pose robotPose);
-
-    /**
-     * This method sets all values of m_MinChangeX, m_MaxChangeX, m_MinChangeY and m_MaxChangeY
-      * to initial values so that the complete map will be processed.
-     */
-    void maximizeChangedRegion();
-
-    /**
-     * This method resets all values of m_ExploredX, m_MaxExploredX, m_MinExploredY and m_MaxExploredY.
-     */
-    void resetExploredRegion();
-
-    /**
-     * Deletes all allocated members.
-     */
-     void cleanUp();
-
-    /**
-     * Stores the size of one map pixel in m.
-     */
-    float m_Resolution;
-
-    /**
-     * Stores the origin of the map
-     */
-    geometry_msgs::Pose m_Origin;
-    /**
-     * Stores the width of the map in cell numbers.
-     */
-    int m_PixelSize;
-
-    /**
-     * Stores the size of the map arrays, i.e. m_PixelSize * m_PixelSize
-     * for faster computation.
-     */
-    unsigned m_ByteSize;
-
-    /**
-     * Array to store occupancy probability values.
-     * Values between 0 and 1.
-     */
-    float* m_OccupancyProbability;
-
-    // Counts how often a pixel is hit by a measurement.
-    unsigned short* m_MeasurementCount;
-
-    // Counts how often a pixel is hit by a measurement that says the pixel is occupied.
-    unsigned short* m_OccupancyCount;
-
-    // Counts how often a cell is marked as inaccessible via markInaccessible()
-    unsigned char* m_InaccessibleCount;
-
-    // Used for setting flags for cells, that have been modified during the current update.
-    unsigned char* m_CurrentChanges;
-    
-    // Used for high Sensitive areas
-    unsigned short* m_HighSensitive;
-
-    /**
-     * Store values from config files.
-     */
-    // maximum valid range of one laser measurement
-    float m_LaserMaxRange;
-    //minimum valid range of one laser measurement
-    float m_LaserMinRange;
-    //minimum range classified as free in case of errorneous laser measurement
-    float m_FreeReadingDistance;
-    //enables checking to avoid matching front- and backside of an obstacle, e.g. wall
-    bool m_BacksideChecking;
-    //leaves a small border around obstacles unchanged when inserting a laser scan
-    bool m_ObstacleBorders;
-    //minimum distance in m between two samples for probability calculation
-    float m_MeasureSamplingStep;
-    
-    //bool to reset high_sensitive Areas on the next iteration
-    bool m_reset_high;
-
-    //position of the laser scaner in base_link frame
-    geometry_msgs::Point m_LaserPos;
-
-    /**
-     * Defines a bounding box around the changes in the current map.
-     */
-    Box2D<int> m_ChangedRegion;
-
-    /**
-     * Defines a bounding box around the area in the map, which is already explored.
-     */
-    Box2D<int> m_ExploredRegion;
-
-    /**
-     * ros transform listener
-     */
-    tf::TransformListener m_tfListener;
-    
-    /**
-     * ros transformation laser to base_link
-     */    
-    tf::StampedTransform m_laserTransform;
-    tf::Transform m_latestMapTransform;
-
-};
-#endif
diff --git a/homer_mapping/include/homer_mapping/ParticleFilter/HyperSlamFilter.h b/homer_mapping/include/homer_mapping/ParticleFilter/HyperSlamFilter.h
deleted file mode 100755
index c85da226..00000000
--- a/homer_mapping/include/homer_mapping/ParticleFilter/HyperSlamFilter.h
+++ /dev/null
@@ -1,163 +0,0 @@
-#ifndef HYPERSLAMFILTER_H
-#define HYPERSLAMFILTER_H
-
-#include <vector>
-#include <homer_mapping/ParticleFilter/ParticleFilter.h>
-#include <homer_mapping/ParticleFilter/SlamParticle.h>
-#include <homer_mapping/ParticleFilter/SlamFilter.h>
-#include <homer_nav_libs/Math/Pose.h>
-#include <homer_mapping/OccupancyMap/OccupancyMap.h>
-
-#include <sensor_msgs/LaserScan.h>
-
-class OccupancyMap;
-
-/**
- * @class HyperSlamFilter
- *
- * @author Malte Knauf, Stephan Wirth, Susanne Maur
- *
- * @brief This class is used to determine the robot's most likely pose with given map and given laser data.
- *
- * A particle filter is a descrete method to describe and compute with a probability distribution.
- * This particle filter uses an occupancy map to determine the probability of robot states.
- * The robot states are stored in a particle together with their weight @see SlamParticle.
- *
- * @see SlamParticle
- * @see ParticleFilter
- * @see OccupancyMap
- */
-class HyperSlamFilter {
-
-  public:
-
-   /**
-     * This constructor initializes the random number generator and sets the member variables to the given values.
-     * @param particleNum Number of particleFilters to use.
-     */
-    HyperSlamFilter(int particleFilterNum, int particleNum);
-
-    /**
-     * The destructor releases the OccupancyMap and the particles.
-     */
-    ~HyperSlamFilter();
-
-    /**
-     * This method runs the filter routine.
-     * The given odometry measurement is used as movement hypothesis, the laserData-vector is used
-     * as measurement and is used to weight the particles.
-     * @param currentPoseOdometry Odometry data of time t.
-     * @param laserData msg containing the laser measurement.
-     * @param measurementTime Time stamp of the measurement.
-     * @param filterDurationTime Returns the time in ms that the filtering needed
-     */
-    void filter(Pose currentPoseOdometry, sensor_msgs::LaserScanConstPtr laserData, ros::Time measurementTime,
-                ros::Duration  &filterDuration);
-
-    /**
-     * Computes and sets the new value for m_Alpha1.
-     * @param percent Rotation error while rotating (see class constructor for details)
-     */
-    void setRotationErrorRotating(float percent);
-
-    /**
-     * Computes and sets the new value for m_Alpha2.
-     * @param degreesPerMeter Rotation error while translating (see class constructor for details)
-     */
-    void setRotationErrorTranslating(float degreesPerMeter);
-
-    /**
-     * Computes and sets the new value for m_Alpha3.
-     * @param percent Translation error while translating (see class constructor for details)
-     */
-    void setTranslationErrorTranslating(float percent);
-
-    /**
-     * Computes and sets the new value for m_Alpha4.
-     * @param  mPerDegree Translation error while rotating (see class constructor for details)
-     */
-    void setTranslationErrorRotating(float mPerDegree);
-
-    /**
-     * Computes and sets the new value for m_Alpha5.
-     * @param  mPerDegree Move jitter while turning (see class constructor for details)
-     */
-    void setMoveJitterWhileTurning(float mPerDegree);
-
-    /**
-     * Sets a new minimal size of a cluster of scan points which is considered in scan matching.
-     * @param  clusterSize Minimal size of a cluster in mm of scan points which is considered in scan matching.
-     */
-    void setScanMatchingClusterSize(float clusterSize);
-
-    /**
-     * Sets whether the map is updated or just used for self-localization.
-     * @param doMapping True if robot shall do mapping, false otherwise.
-     */
-    void setMapping(bool doMapping);
-
-    /**
-     * Deletes the current occupancy map and copies a new one into the system.
-     * @param occupancyMap The occupancy map to load into the system (copies are being made)
-     */
-    void setOccupancyMap(OccupancyMap* occupancyMap);
-
-    /**
-     * Sets the robot pose in the current occupancy map.
-     * @param Robot pose.
-     * @param scatterVariance if not equal to 0 the poses are equally scattered around the pose
-     */
-    void setRobotPose(Pose pose, double scatterVarXY=0.0, double scatterVarTheta=0.0);
-
-    /**
-     *Returns the best SlamFilter
-     */
-    SlamFilter* getBestSlamFilter();
-    
-    void resetHigh();
-
-    /**
-     * Factor (default 0.98) of the contrast of the best particle.
-     * If the contrast of the worst particle is below this threshold
-     * it will be replaced by the best particle
-     * @param deletionThreshold see above
-     */
-    void setDeletionThreshold(double deletionThreshold);
-
-    /**
-     * applies masking to map of slam filter set in GUI
-     * @param msg masking message received from GUI
-     */
-    void applyMasking(const nav_msgs::OccupancyGrid::ConstPtr &msg)
-    {
-        for(unsigned i = 0; i < m_ParticleFilterNum; ++i)
-        {
-            m_SlamFilters[i]->applyMasking(msg);
-        }
-    }
-
-  private:
-
-    /** Used SlamFilters */
-    std::vector <SlamFilter*> m_SlamFilters;
-
-    /** Number of SlamFilters */
-    unsigned m_ParticleFilterNum;
-
-    /** Number of Particles of SlamFilter */
-    unsigned m_ParticleNum;
-
-    /** */
-    double m_DeletionThreshold;
-
-    /** Best SLAM Filter */
-    SlamFilter* m_BestSlamFilter;
-
-    /** Worst SlamFilter */
-    SlamFilter* m_WorstSlamFilter;
-
-    bool m_DoMapping;
-
-};
-#endif
-
diff --git a/homer_mapping/include/homer_mapping/ParticleFilter/Particle.h b/homer_mapping/include/homer_mapping/ParticleFilter/Particle.h
deleted file mode 100644
index bd96aa85..00000000
--- a/homer_mapping/include/homer_mapping/ParticleFilter/Particle.h
+++ /dev/null
@@ -1,64 +0,0 @@
-#ifndef PARTICLE_H
-#define PARTICLE_H  
-
-#include <iostream>
-#include <fstream>
-
-/** 
- * @class Particle
- *
- * @author Malte Knauf, Stephan Wirth
- *
- * @brief This class is an implementation of a "particle".
- *
- * A particle as it is used in particle filters is a set of one state and one importance factor (=weight).
- * A set of Particles is a discrete representation of a probability distribution.
- * 
- * @see ParticleFilter
- */
-class Particle {
-    
-  public:
-    /**
-     * This constructor assigns the given weight to the member m_Weight.
-     * @param weight The weight of the particle.
-     */
-    Particle(float weight = 0.0, int id = 0);
-
-    /**
-     * The destructor does nothing so far.
-     */
-    virtual ~Particle();
-
-    /**
-     * This method returns the importance factor of the particle.
-     * @return The importance factor (=weight) of the particle.
-     */
-    inline float getWeight() const { return m_Weight; }
-
-    /**
-     * Method to set the weight of the particle.
-     * @param newWeight New weight for the particle.
-     */
-    inline void setWeight(float newWeight) { m_Weight=newWeight; }
-
-    /**
-     * @return id of the particle that is stored in m_Id
-     */
-    inline int getId() { return m_Id; }
-
-  private:
-    /**
-     * Stores the importance factor (=weight) of the particle. This should be a value between 0 and 1.
-     */
-    float m_Weight;
-
-    /**
-     * Stores the id of the particle (for testing purpose)
-     */
-    int m_Id;
-
-};
-
-#endif
-
diff --git a/homer_mapping/include/homer_mapping/ParticleFilter/ParticleFilter.h b/homer_mapping/include/homer_mapping/ParticleFilter/ParticleFilter.h
deleted file mode 100644
index 651f7587..00000000
--- a/homer_mapping/include/homer_mapping/ParticleFilter/ParticleFilter.h
+++ /dev/null
@@ -1,320 +0,0 @@
-#ifndef PARTICLEFILTER_H
-#define PARTICLEFILTER_H
-
-#include <iostream>
-#include <cmath>
-#include <limits.h>
-#include <omp.h>
-
-#include <ros/ros.h>
-
-class Particle;
-
-const float MIN_EFFECTIVE_PARTICLE_WEIGHT = 0.2;
-
-/**
- * @class ParticleFilter
- *
- * @author Malte Knauf, Stephan Wirth
- *
- * @brief This class is a template class for a particle filter.
- *
- * A particle filter is a descrete method to describe and compute with a probability distribution.
- * This template class implements the basic methods for a particle filter: sort() and resample().
- * Use this class do derivate your custom particle filter from it. Use a self-defined subclass of
- * Particle as ParticleType.
- *
- * @see Particle
- */
-template <class ParticleType>
-class ParticleFilter {
-
-  public:
-    /**
-     * The constructor initializes the random number generator and allocates the memory for the particle lists.
-     * The lists will have particleNum elements.
-     * @param particleNum Number of particles for the filter.
-     */
-    ParticleFilter<ParticleType>(int particleNum);
-
-    /**
-     * The destructor releases the particle lists.
-     */
-    virtual ~ParticleFilter();
-
-    /**
-     * @return Number of particles used in this filter
-     */
-    int getParticleNum();
-
-    /**
-     * @return The number of effective particles (according to "Improving Grid-based SLAM with Rao-Blackwellized Particle
-     * Filters by Adaptive Proposals and Selective Resampling (2005)" by Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
-     */
-    int getEffectiveParticleNum() const;
-    int getEffectiveParticleNum2() const;
-
-    /**
-     * @return Pointer to the particle that has the highest weight.
-     */
-    ParticleType* getBestParticle() const;
-
-
-  protected:
-
-    /**
-     * This method generates a random variable in the interval [0,1].
-     * @param init The initial value for the static random base number. When running the constructor of this
-     * class, this method is run once with the C-function time() as parameter to initialize it.
-     * Then you should use it without parameter.
-     * @return Random value between 0 and 1
-     */
-    double random01(unsigned long init = 0) const;
-
-    /**
-     * This method sorts the particles in m_CurrentList from leftIndex to rightIndex according to their weight.
-     * The particle with the highest weight is at position 0 after calling this function. The algorithm used here is
-     * known as quicksort and works recursively.
-     * @param leftIndex Left index of area to sort
-     * @param rightIndex Right index of area to sort
-     */
-    void sort(int leftIndex, int rightIndex);
-
-    /**
-     * This method normalizes the weights of the particles. After calling this function, the sum of the weights of
-     * all particles in m_CurrentList equals 1.0.
-     * In this function the sum of all weights of the particles of m_CurrentList is computed and each weight of each
-     * particle is devided through this sum.
-     */
-    void normalize();
-
-    /**
-     * This method selects a new set of particles out of an old set according to their weight
-     * (importance resampling). The particles from the list m_CurrentList points to are used as source,
-     * m_LastList points to the destination list. The pointers m_CurrentList and m_LastList are switched.
-     * The higher the weight of a particle, the more particles are drawn (copied) from this particle.
-     * The weight remains untouched, because measure() will be called afterwards.
-     * This method only works on a sorted m_CurrentList, therefore sort() is called first.
-     */
-    void resample();
-
-    /**
-     * This method drifts the particles (second step of a filter process).
-     * Has to be implemented in sub-classes (pure virtual function).
-     */
-    virtual void drift() = 0;
-
-    /**
-     * This method has to be implemented in sub-classes. It is used to determine the weight of each particle.
-     */
-    virtual void measure() = 0;
-
-    /**
-     * These two pointers point to m_ParticleListOne and to m_ParticleListTwo.
-     * The particles are drawn from m_LastList to m_CurrentList to avoid new and delete commands.
-     * In each run, the pointers are switched in resample().
-     */
-    ParticleType** m_CurrentList;
-    ParticleType** m_LastList;
-
-    /**
-     * Stores the number of particles.
-     */
-    int m_ParticleNum;
-
-    /**
-     * Stores the number of effective particles.
-     */
-    int m_EffectiveParticleNum;
-};
-
-template <class ParticleType>
-ParticleFilter<ParticleType>::ParticleFilter(int particleNum) {
-  // initialize particle lists
-  m_CurrentList = new ParticleType*[particleNum];
-  m_LastList = new ParticleType*[particleNum];
-
-  // initialize random number generator
-  random01(time(0));
-
-  m_ParticleNum = particleNum;
-}
-
-
-template <class ParticleType>
-ParticleFilter<ParticleType>::~ParticleFilter() {
-  if (m_CurrentList) {
-    delete[] m_CurrentList;
-    m_CurrentList = 0;
-  }
-  if (m_LastList) {
-    delete[] m_LastList;
-    m_LastList = 0;
-  }
-}
-
-template <class ParticleType>
-int ParticleFilter<ParticleType>::getParticleNum() {
-  return m_ParticleNum;
-}
-
-template <class ParticleType>
-double ParticleFilter<ParticleType>::random01(unsigned long init) const {
-  static unsigned long n;
-  if (init > 0) {
-    n = init;
-  }
-  n = 1664525 * n + 1013904223;
-  // create double from unsigned long
-  return (double)(n/2) / (double)LONG_MAX;
-}
-
-
-template <class ParticleType>
-void ParticleFilter<ParticleType>::sort(int indexLeft, int indexRight) {
-
-  // SOMETHING LEFT TO SORT?
-  if (indexLeft >= indexRight) {
-    // ready!
-    return;
-  }
-
-  // CREATE PARTITION
-  int le = indexLeft;
-  int ri = indexRight;
-  int first = le;
-  int pivot = ri--;
-  while(le <= ri) {
-    // skip from left
-    while(m_CurrentList[le]->getWeight() > m_CurrentList[pivot]->getWeight()) {
-      le++;
-    }
-    // skip from right
-    while((ri >= first) && (m_CurrentList[ri]->getWeight() <= m_CurrentList[pivot]->getWeight())) {
-      ri--;
-    }
-    // now we have two elements to swap
-    if(le < ri) {
-      // swap
-      ParticleType* temp = m_CurrentList[le];
-      m_CurrentList[le] = m_CurrentList[ri];
-      m_CurrentList[ri] = temp;
-      le++;
-    }
-  }
-
-  if(le != pivot) {
-    // swap
-    ParticleType* temp = m_CurrentList[le];
-    m_CurrentList[le] = m_CurrentList[pivot];
-    m_CurrentList[pivot] = temp;
-  }
-
-  // sort left side
-  sort(indexLeft, le - 1);
-  // sort right side
-  sort(le + 1, indexRight);
-
-}
-
-template <class ParticleType>
-void ParticleFilter<ParticleType>::normalize() {
-
-  float weightSum = 0.0;
-  for (int i = 0; i < m_ParticleNum; i++) {
-    weightSum += m_CurrentList[i]->getWeight();
-  }
-  // only normalize if weightSum is big enough to divide
-  if (weightSum > 0.000001) 
-  {
-    
-    //calculating parallel on 8 threats 
-    omp_set_num_threads(8);
-    int i = 0;
-   // #pragma omp parallel for 
-    for ( i = 0; i < m_ParticleNum; i++) 
-    {
-      float newWeight = m_CurrentList[i]->getWeight() / weightSum;
-      m_CurrentList[i]->setWeight(newWeight);
-    }
-  }
-  else 
-  {
-      ROS_WARN_STREAM( "Particle weights VERY small: " << weightSum << ". Got "<< m_ParticleNum << " particles.");
-  }
-}
-
-template <class ParticleType>
-void ParticleFilter<ParticleType>::resample() 
-{
-    // swap pointers
-    ParticleType** help = m_LastList;
-    m_LastList = m_CurrentList;
-    m_CurrentList = help;
-    // now we copy from m_LastList to m_CurrentList
-
-    int drawIndex = 0;
-    // index of the particle where we are drawing to
-    int targetIndex = 0;
-
-    int numToDraw = 0;
-    do {
-      numToDraw = static_cast<int>(round((m_ParticleNum * m_LastList[drawIndex]->getWeight()) + 0.5));
-      for (int i = 0; i < numToDraw; i++) {
-        *m_CurrentList[targetIndex++] = *m_LastList[drawIndex];
-        // don't draw too much
-        if (targetIndex >= m_ParticleNum) {
-          break;
-        }
-      }
-      drawIndex++;
-    } while (numToDraw > 0 && targetIndex < m_ParticleNum);
-
-    // fill the rest of the particle list
-    for (int i = targetIndex; i < m_ParticleNum; i++) {
-      float particlePos = random01();
-      float weightSum = 0.0;
-      drawIndex = 0;
-      weightSum += m_LastList[drawIndex]->getWeight();
-      while (weightSum < particlePos) {
-        weightSum += m_LastList[++drawIndex]->getWeight();
-      }
-      *m_CurrentList[i] = *m_LastList[drawIndex];
-    }
-}
-
-
-template <class ParticleType>
-int ParticleFilter<ParticleType>::getEffectiveParticleNum() const {
-  // does not work with normalized particle weights
-  // does not work with our weights at all (algorithm of Grisetti)
-  float squareSum = 0;
-  for (int i = 0; i < m_ParticleNum; i++) {
-    float weight = m_CurrentList[i]->getWeight();
-    squareSum += weight * weight;
-  }
-  return static_cast<int>(1.0f / squareSum);
-}
-
-
-template <class ParticleType>
-int ParticleFilter<ParticleType>::getEffectiveParticleNum2() const {
-    // does not work with normalized particle weights
-  int effectiveParticleNum = 0;
-  for (int i = 0; i < m_ParticleNum; i++) {
-    if (m_CurrentList[i]->getWeight() > MIN_EFFECTIVE_PARTICLE_WEIGHT) {
-      effectiveParticleNum ++;
-    }
-  }
-  return effectiveParticleNum;
-}
-
-
-template <class ParticleType>
-ParticleType* ParticleFilter<ParticleType>::getBestParticle() const {
-  return m_CurrentList[0];
-}
-
-
-#endif
-
diff --git a/homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h b/homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h
deleted file mode 100644
index a712fb39..00000000
--- a/homer_mapping/include/homer_mapping/ParticleFilter/SlamFilter.h
+++ /dev/null
@@ -1,327 +0,0 @@
-#ifndef SLAMFILTER_H
-#define SLAMFILTER_H
-
-#include <vector>
-#include <homer_mapping/ParticleFilter/ParticleFilter.h>
-#include <homer_mapping/ParticleFilter/SlamParticle.h>
-#include <homer_nav_libs/Math/Pose.h>
-#include <homer_mapping/OccupancyMap/OccupancyMap.h>
-
-#include <sensor_msgs/LaserScan.h>
-#include <homer_nav_libs/Math/Transformation2D.h>
-#include <homer_nav_libs/Math/Math.h>
-
-#include <tf/transform_broadcaster.h>
-
-#include <cmath>
-#include <fstream>
-#include <sstream>
-
-#include "ros/ros.h"
-
-
-class OccupancyMap;
-
-/**
- * @class SlamFilter
- *
- * @author Malte Knauf, Stephan Wirth, Susanne Maur
- *
- * @brief This class is used to determine the robot's most likely pose with given map and given laser data.
- *
- * A particle filter is a descrete method to describe and compute with a probability distribution.
- * This particle filter uses an occupancy map to determine the probability of robot states.
- * The robot states are stored in a particle together with their weight @see SlamParticle.
- *
- * @see SlamParticle
- * @see ParticleFilter
- * @see OccupancyMap
- */
-class SlamFilter : public ParticleFilter<SlamParticle> {
-
-  public:
-
-   /**
-     * This constructor initializes the random number generator and sets the member variables to the given values.
-     * @param particleNum Number of particles to use.
-     */
-    SlamFilter(int particleNum);
-
-    /// @brief copy constructor
-    SlamFilter( SlamFilter& slamFilter );
-
-    /**
-     * The destructor releases the OccupancyMap and the particles.
-     */
-    ~SlamFilter();
-
-    /**
-     * This method runs the filter routine.
-     * The given odometry measurement is used as movement hypothesis, the laserData-vector is used
-     * as measurement and is used to weight the particles.
-     * @param currentPoseOdometry Odometry data of time t.
-     * @param laserData msg containing the laser measurement.
-     * @param measurementTime Time stamp of the measurement.
-     * @param filterDurationTime Returns the time that the filtering needed
-     */
-    void filter(Pose currentPoseOdometry, sensor_msgs::LaserScanConstPtr laserData, ros::Time measurementTime,
-                ros::Duration  &filterDuration);
-
-    /**
-     * @return The Pose of the most important particle (particle with highest weight).
-     */
-    Pose getLikeliestPose(ros::Time poseTime = ros::Time::now());
-
-    /**
-     * This method can be used to retrieve the most likely map that is stored by the particle filter.
-     * @return Pointer to the most likely occupancy map.
-     */
-    OccupancyMap* getLikeliestMap() const;
-
-    /**
-     * This function prints out the list of particles to stdout via cout.
-     */
-    void printParticles() const;
-    
-    void resetHigh();
-
-    /**
-     * Computes and sets the new value for m_Alpha1.
-     * @param percent Rotation error while rotating (see class constructor for details)
-     */
-    void setRotationErrorRotating(float percent);
-
-    /**
-     * Computes and sets the new value for m_Alpha2.
-     * @param degreesPerMeter Rotation error while translating (see class constructor for details)
-     */
-    void setRotationErrorTranslating(float degreesPerMeter);
-
-    /**
-     * Computes and sets the new value for m_Alpha3.
-     * @param percent Translation error while translating (see class constructor for details)
-     */
-    void setTranslationErrorTranslating(float percent);
-
-    /**
-     * Computes and sets the new value for m_Alpha4.
-     * @param  mPerDegree Translation error while rotating (see class constructor for details)
-     */
-    void setTranslationErrorRotating(float mPerDegree);
-
-    /**
-     * Computes and sets the new value for m_Alpha5.
-     * @param  mPerDegree Move jitter while turning (see class constructor for details)
-     */
-    void setMoveJitterWhileTurning(float mPerDegree);
-
-    /**
-     * Sets a new minimal size of a cluster of scan points which is considered in scan matching.
-     * @param  clusterSize Minimal size of a cluster in mm of scan points which is considered in scan matching.
-     */
-    void setScanMatchingClusterSize(float clusterSize);
-
-    /**
-     * Sets whether the map is updated or just used for self-localization.
-     * @param doMapping True if robot shall do mapping, false otherwise.
-     */
-    void setMapping(bool doMapping);
-
-    /**
-     * Deletes the current occupancy map and copies a new one into the system.
-     * @param occupancyMap The occupancy map to load into the system (is being copied)
-     */
-    void setOccupancyMap(OccupancyMap* occupancyMap);
-
-    /**
-     * Sets the robot pose in the current occupancy map.
-     * @param Robot pose.
-     * @param scatterVariance if not equal to 0 the poses are equally scattered around the pose
-     */
-    void setRobotPose(Pose pose, double scatterVarXY=0.0, double scatterVarTheta=0.0);
-
-    /**
-     * @return Vector of current particle poses. The vector is sorted according to the weights of the
-     * particles. The pose of the particle with the highest value is the first element of the vector.
-     */
-    std::vector<Pose>* getParticlePoses() const;
-
-    /**
-    * @return vector of all particles
-    */
-    std::vector<SlamParticle*>* getParticles() const;
-
-    /**
-     * @return Vector of current particle weights. The vector is sorted by weight, highest weight first.
-     */
-    std::vector<float> getParticleWeights() const;
-
-    /**
-     * Calculates and returns the variance of the current likeliest particle poses.
-     * The orientation of the particle is neglected.
-     * @param The number of treated particles.
-     * @param[out] poseVarianceX The variance of particle poses in x direction.
-     * @param[out] poseVarianceY The variance of particle poses in y direction.
-     */
-    void getPoseVariances(int particleNum, float& poseVarianceX, float& poseVarianceY);
-
-    /**
-     * This method reduces the number of particles used in this SlamFilter to the given value.
-     * @param newParticleNumber The new number of particles
-     */
-    void reduceParticleNumber(int newParticleNumber);
-
-    /**
-     * This method returns the contrast of the occupancy grid
-     * @return Contrast value from 0 (no contrast) to 1 (max. contrast) of the map
-     */
-    double evaluateByContrast();
-
-    /**
-     * This method passes a masking map to to the underlying occupancy map
-     */
-    void applyMasking(const nav_msgs::OccupancyGrid::ConstPtr &msg);
-
-
-  private:
-
-    /**
-     * This method filter outliers in the given laser scan
-     * @param rawData the laser scan to check
-     * @param maxDiff maximal difference between two adjacent ranges
-     * @return filtered scan without outliers
-     */
-    vector<float> filterOutliers(sensor_msgs::LaserScanConstPtr rawData, float maxDiff );
-
-    /**
-     * This method generates Gauss-distributed random variables with the given variance. The computation
-     * method is the Polar Method that is described in the book "A First Course on Probability" by Sheldon Ross.
-     * @param variance The variance for the Gauss-distribution that is used to generate the random variable.
-     * @return A random variable that is N(0, variance) distributed.
-     */
-    double randomGauss(float variance = 1.0) const;
-
-    /**
-     * This method drifts the particles according to the last two odometry readings (time t-1 and time t).
-     */
-    void drift();
-
-    /**
-     * This method weightens each particle according to the given laser measurement in m_LaserData.
-     */
-    void measure();
-
-    /**
-     * This method updates the map by inserting the current laser measurement at the pose of the likeliest particle.
-     */
-    void updateMap();
-
-    /**
-     * For weightening the particles, the filter needs a map.
-     * This variable holds a pointer to a map.
-     * @see OccupancyMap
-     */
-    OccupancyMap* m_OccupancyMap;
-
-    /**
-     * threshold values for when the map will be updated.
-     * The map is only updated when the robot has turned a minimal angle (m_UpdateMinMoveAngle in radiants),
-     * has moved a minimal distance (m_UpdateMinMoveDistance in m) or a maximal time has passed (m_MaxUpdateInterval)
-     */
-    float m_UpdateMinMoveAngle;
-    float m_UpdateMinMoveDistance;
-    ros::Duration m_MaxUpdateInterval;
-
-    /**
-     * This variable holds the rotation error that the robot makes while it is rotating.
-     * Has to be given in percent. Example: robot makes errors of 3 degrees while making a 60 degrees
-     * move -> error is 5% -> rotationErrorRotating = 5)
-     */
-    float m_Alpha1;
-
-    /**
-     * This variable holds the rotation error that the robot makes while it is translating
-     * (moving forward or backwards). Has to be given in degrees per meter.
-     */
-    float m_Alpha2;
-
-    /**
-     * This variable holds the translation error that the robot makes while it is translating.
-     * Has to be given in percent.
-     */
-    float m_Alpha3;
-
-    /**
-     * This variable holds the translation error that the robot makes while it is rotating.
-     * This error only carries weight, if a translation es performed at the same time.
-     * See also m_Alpha5.
-     * Has to be given in milimeters per degree. Example: Robot makes a turn of 10 degrees and moves its
-     * center unintentional 15 mm. -> translationErrorRotating = 15.0 / 10.0 = 1.5
-     */
-    float m_Alpha4;
-
-    /**
-     * This variable holds a move jitter that is considered if the robot is turning.
-     * Has to be given in milimeters per degree.
-     */
-    float m_Alpha5;
-
-    /**
-     * The maximal rotation if mapping is performed. If the rotation is bigger, mapping is interrupted.
-     * This value may depend on the computing power, because it is influenced by the size of time intervals of mapping.
-     */
-    float m_MaxRotationPerSecond;
-
-    /**
-     * Last laser data.
-     */
-    sensor_msgs::LaserScanPtr m_CurrentLaserData;
-
-    /**
-     * Last two odometry measurements.
-     */
-    Pose m_ReferencePoseOdometry;
-    Pose m_CurrentPoseOdometry;
-
-    /**
-     * Time stamp of the last sensor measurement.
-     */
-    ros::Time m_ReferenceMeasurementTime;
-
-    /**
-     * True if it is the first run of SlamFilter, false otherwise.
-     */
-    bool m_FirstRun;
-
-    /**
-     * This variabe is true, if the SlamFilter is used for mapping and updates the map,
-     * false if it is just used for self-localization.
-     */
-    bool m_DoMapping;
-
-    /** Points used in last measure() step */
-    vector<MeasurePoint> m_MeasurePoints;
-
-    /// Pose of robot during last map update
-    Pose m_LastUpdatePose;
-    
-    tf::Transform m_latestTransform;
-
-    /**
-     *  Time stamp of the last particle filter step
-     */
-    ros::Time m_LastUpdateTime;
-
-    /**
-     * Calculates the square of given input f
-     * @param f input
-     * @return square of input
-     */
-    template<class T>
-    T sqr(T f)
-    {
-        return f * f;
-    }
-};
-#endif
-
diff --git a/homer_mapping/include/homer_mapping/ParticleFilter/SlamParticle.h b/homer_mapping/include/homer_mapping/ParticleFilter/SlamParticle.h
deleted file mode 100644
index dc05b056..00000000
--- a/homer_mapping/include/homer_mapping/ParticleFilter/SlamParticle.h
+++ /dev/null
@@ -1,72 +0,0 @@
-#ifndef SLAMPARTICLE_H
-#define SLAMPARTICLE_H
-
-#include <iostream>
-#include <fstream>
-
-#include <homer_mapping/ParticleFilter/Particle.h>
-
-/**
- * @class SlamParticle
- *
- * @author Malte Knauf, Stephan Wirth
- *
- * @brief This class defines a particle for the SlamFilter.
- *
- * This particle contains a weight (inherited from base class) and a Pose (position + orientation).
- * The Pose describes a possible position and orientation of the robot.
- *
- * @see SlamFilter
- * @see Particle
- */
-class SlamParticle : public Particle
-{
-
-  public:
-    /**
-     * This constructor assigns the given weight to the member m_Weight.
-     * @param weight The weight of the particle.
-     * @param robotX X-Position of the robot (world coordinates in m).
-     * @param robotY Y-Position of the robot (world coordinates in m).
-     * @param robotTheta Orientation of the robot (radiants).
-     */
-    SlamParticle ( float weight = 1.0, float robotX = 0.0, float robotY = 0.0, float robotTheta = 0.0 );
-
-    ///@brief copy contructor
-    SlamParticle ( SlamParticle& slamParticle );
-
-    /**
-     * The destructor does nothing so far.
-     */
-    ~SlamParticle();
-
-    /**
-     * Sets the three members m_RobotPositionX, m_RobotPositionY, m_RobotOrientation.
-     * @param robotX X-Position of the robot (world coordinates in m).
-     * @param robotY Y-Position of the robot (world coordinates in m).
-     * @param robotTheta Orientation of the robot (radiants).
-     */
-    void setRobotPose ( float robotX, float robotY, float robotTheta );
-
-    /**
-     * Returns the content of the three members m_RobotPositionX, m_RobotPositionY, m_RobotOrientation.
-     * @param[out] robotX X-Position of the robot (world coordinates in m).
-     * @param[out] robotY Y-Position of the robot (world coordinates in m).
-     * @param[out] robotTheta Orientation of the robot (radiants).
-     */
-    void getRobotPose ( float& robotX, float& robotY, float& robotTheta );
-
-
-  private:
-
-    /**
-     * These members store the pose of the robot.
-     */
-    float m_RobotPositionX;
-    float m_RobotPositionY;
-    float m_RobotOrientation;
-
-};
-
-#endif
-
diff --git a/homer_mapping/include/homer_mapping/slam_node.h b/homer_mapping/include/homer_mapping/slam_node.h
deleted file mode 100644
index 5e4081a4..00000000
--- a/homer_mapping/include/homer_mapping/slam_node.h
+++ /dev/null
@@ -1,186 +0,0 @@
-#ifndef SLAM_NODE_H
-#define SLAM_NODE_H
-
-#include <vector>
-#include <map>
-#include <sstream>
-#include <vector>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <cmath>
-#include <stdlib.h>
-
-#include <homer_nav_libs/Math/Pose.h>
-
-#include <tf/transform_broadcaster.h>
-
-#include <sensor_msgs/LaserScan.h>
-#include <nav_msgs/Odometry.h>
-#include <nav_msgs/OccupancyGrid.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/PoseWithCovariance.h>
-#include <geometry_msgs/PoseWithCovarianceStamped.h>
-#include <std_msgs/Empty.h>
-#include <std_msgs/Bool.h>
-#include <nav_msgs/Odometry.h>
-#include <nav_msgs/OccupancyGrid.h>
-#include <tf/tf.h>
-
-#include <homer_mapping/ParticleFilter/SlamFilter.h>
-#include <homer_mapping/ParticleFilter/HyperSlamFilter.h>
-#include <homer_nav_libs/Math/Box2D.h>
-#include <homer_mapping/OccupancyMap/OccupancyMap.h>
-
-class OccupancyMap;
-class SlamFilter;
-class HyperSlamFilter;
-
-/**
- * @class SlamNode
- *
- * @author Malte Knauf, Stephan Wirth, Susanne Maur (RX), David Gossow (RX),
- *         Christian Fuchs (R12), Nicolai Wojke (R14), Susanne Thierfelder (R16)
- *
- *
- * @brief The Simultaneous localization and mapping module
- *
- * This module receives odometry and laser data and computes the
- * robot's position and a map out of this data. Then it sends a
- * geometry_msgs/PoseStamped and nav_msgs/OccupancyGrid message.
- */
-class SlamNode
-{
-
-public:
-
-    /**
-     * The constructor adds the message types and prepares the module for receiving them.
-     */
-    SlamNode(ros::NodeHandle *nh);
-
-    /**
-     * This method initializes the member variables.
-     */
-    virtual void init();
-
-    /**
-     * The destructor deletes the filter thread instance.
-     */
-    virtual ~SlamNode();
-
-private:
-
-    /**
-     * Callback methods for all incoming messages
-     */
-    void callbackLaserScan( const sensor_msgs::LaserScan::ConstPtr& msg );
-    void callbackOdometry( const nav_msgs::Odometry::ConstPtr& msg );
-    void callbackUserDefPose( const geometry_msgs::Pose::ConstPtr& msg );
-    void callbackDoMapping( const std_msgs::Bool::ConstPtr& msg );
-    void callbackResetMap( const std_msgs::Empty::ConstPtr& msg );
-    void callbackLoadedMap( const nav_msgs::OccupancyGrid::ConstPtr& msg );
-    void callbackMasking( const nav_msgs::OccupancyGrid::ConstPtr& msg );
-    void callbackResetHigh(const std_msgs::Empty::ConstPtr& msg);
-	void callbackInitialPose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg);
-
-    /**
-     * This function resets the current maps to the initial state.
-     */
-    void resetMaps();
-
-    /**
-     * This function processes the current odometry data in combination with the
-     * last send odometry and laser informations to pass on corresponding data
-     * to the filter threads.
-
-    /**
-     * This method retrieves the current map of the slam filter and sends a map
-     * data message containing the map.
-     */
-    void sendMapDataMessage(ros::Time mapTime = ros::Time::now());
-
-    /**
-     * This variables stores the last odometry measurement as reference that is used
-     * to compute the pose of the robot during a specific laserscan.
-     */
-    Pose m_ReferenceOdometryPose;
-
-	Pose m_LastLikeliestPose;
-
-    /**
-     * This variable stores the time of the last odometry measurement as reference
-     * which is used to compute the pose of the robot during a specific laserscan.
-     */
-    ros::Time m_ReferenceOdometryTime;
-
-    /**
-     * This variable stores the time the last map message was sent to be able to
-     * compute the time for the next map send.
-     */
-    ros::Time m_LastMapSendTime;
-    ros::Time m_LastPositionSendTime;
-
-    /**
-     * This variable stores the last laser measurement.
-     */
-    sensor_msgs::LaserScan::ConstPtr m_LastLaserData;
-
-    /**
-     * time stamp of last particle filter step
-     */
-    ros::Time m_LastMappingTime;
-
-
-    /**
-     * This variable stores a pointer to the hyper slam filter
-     */
-    HyperSlamFilter* m_HyperSlamFilter;
-
-    /**
-     * Scatter variances in self localization.
-     */
-    double m_ScatterVarXY;
-    double m_ScatterVarTheta;
-
-    /**
-     * This variabe is true, if the slam algorithm is used for mapping and
-     * keeps updating the map, false otherwise.
-     */
-    bool m_DoMapping;
-
-	/**
-	 * Vectors used to queue laser and odom messages to find a fit
-	 */
-	std::vector<sensor_msgs::LaserScan::ConstPtr> m_laser_queue;
-	std::vector<nav_msgs::Odometry::ConstPtr> m_odom_queue;
-
-    /**
-     * duration to wait between two particle filter steps
-     */
-    ros::Duration m_WaitDuration;
-
-    /**
-     * Broadcasts the transform map -> base_link
-     */
-    tf::TransformBroadcaster m_tfBroadcaster;
-
-    /**
-     * subscribers and publishers
-     */
-    ros::Subscriber m_LaserScanSubscriber;
-    ros::Subscriber m_OdometrySubscriber;
-    ros::Subscriber m_UserDefPoseSubscriber;
-    ros::Subscriber m_DoMappingSubscriber;
-    ros::Subscriber m_ResetMapSubscriber;
-    ros::Subscriber m_LoadMapSubscriber;
-    ros::Subscriber m_MaskingSubscriber;
-    ros::Subscriber m_ResetHighSubscriber;
-	ros::Subscriber m_InitialPoseSubscriber;
-
-    ros::Publisher m_PoseStampedPublisher;
-    ros::Publisher m_SLAMMapPublisher;
-
-};
-
-#endif
diff --git a/homer_mapping/launch/homer_mapping.launch b/homer_mapping/launch/homer_mapping.launch
deleted file mode 100644
index d268a336..00000000
--- a/homer_mapping/launch/homer_mapping.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
- <rosparam command="load" file="$(find homer_mapping)/config/homer_mapping.yaml"/>
- <node name="homer_mapping" pkg="homer_mapping" type="homer_mapping" output="screen"/>
- <node name="map_manager" pkg="homer_map_manager" type="map_manager" output="screen"/>
-</launch>
diff --git a/homer_mapping/mainpage.dox b/homer_mapping/mainpage.dox
deleted file mode 100644
index 054b63cf..00000000
--- a/homer_mapping/mainpage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b homer_mapping is ... 
-
-<!-- 
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
diff --git a/homer_mapping/manifest.xml b/homer_mapping/manifest.xml
deleted file mode 100644
index 2c9977b6..00000000
--- a/homer_mapping/manifest.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<package>
-  <description brief="homer_mapping">
-
-     homer_mapping
-
-  </description>
-  <author>Malte</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/homer_mapping</url>
-  <depend package="std_msgs"/>
-  <depend package="roscpp"/>
-  <depend package="sensor_msgs"/>
-  <depend package="nav_msgs"/>
-  <depend package="tf"/>
-  <depend package="roslib"/>  
-
-  <depend package="robbie_architecture"/>
-  <depend package="BaseLib"/>
-  <depend package="map_messages"/>
-</package>
-
-
diff --git a/homer_mapping/package.xml b/homer_mapping/package.xml
deleted file mode 100644
index bb664fa5..00000000
--- a/homer_mapping/package.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<package>
-  <name>homer_mapping</name>
-  <version>0.1.1</version>
-  <description>
-
-     homer_mapping
-
-  </description>
-  <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
-  <author email="mknauf@uni-koblenz.de">Malte Knauf</author>
-
-  <license>GPLv3</license>
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>homer_nav_libs</build_depend>
-  <build_depend>homer_mapnav_msgs</build_depend>
-  <build_depend>cmake_modules</build_depend>
- 
-
-  <run_depend>std_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>roslib</run_depend>  
-  <run_depend>homer_nav_libs</run_depend>
-  <run_depend>homer_mapnav_msgs</run_depend>
-
-</package>
diff --git a/homer_mapping/readme.pdf b/homer_mapping/readme.pdf
deleted file mode 100644
index 07f93c8ff0f8b7c478d0e93269eb5df0febdd4ad..0000000000000000000000000000000000000000
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diff --git a/homer_mapping/src/CMakeLists.txt b/homer_mapping/src/CMakeLists.txt
deleted file mode 100644
index e5e17710..00000000
--- a/homer_mapping/src/CMakeLists.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-add_subdirectory(Workers)
-add_subdirectory(Modules)
diff --git a/homer_mapping/src/OccupancyMap/OccupancyMap.cpp b/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
deleted file mode 100644
index 5ab3b94a..00000000
--- a/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
+++ /dev/null
@@ -1,977 +0,0 @@
-#include <homer_mapping/OccupancyMap/OccupancyMap.h>
-
-#include <homer_nav_libs/Math/Math.h>
-
-#include <cmath>
-#include <vector>
-#include <fstream>
-#include <sstream>
-#include <QImage>
-
-#include <Eigen/Geometry>
-
-#include <ros/ros.h>
-#include <tf/transform_listener.h>
-
-#include <homer_mapnav_msgs/ModifyMap.h>
-#include <homer_nav_libs/tools.h>
-
-//uncomment this to get extended information on the tracer
-//#define TRACER_OUTPUT
-
-using namespace std;
-
-const float UNKNOWN_LIKELIHOOD = 0.3;
-
-// Flags of current changes //
-const char NO_CHANGE = 0;
-const char OCCUPIED = 1;
-const char FREE = 2;
-//the safety border around occupied pixels which is left unchanged
-const char SAFETY_BORDER = 3;
-///////////////////////////////
-
-//assumed laser measure count for loaded maps
-const int LOADED_MEASURECOUNT = 10;
-
-
-OccupancyMap::OccupancyMap()
-{
-  initMembers();
-}
-
-OccupancyMap::OccupancyMap(float *&occupancyProbability, geometry_msgs::Pose origin, float resolution, int pixelSize, Box2D<int> exploredRegion)
-{
-    initMembers();
-
-
-    m_Origin = origin;
-    m_Resolution = resolution;
-    m_PixelSize = pixelSize;
-    m_ByteSize = pixelSize * pixelSize;
-    m_ExploredRegion = exploredRegion;
-    m_ChangedRegion = exploredRegion;
-
-    if ( m_OccupancyProbability )
-    {
-      delete[] m_OccupancyProbability;
-    }
-    m_OccupancyProbability = occupancyProbability;
-    for(unsigned i = 0; i < m_ByteSize; i++)
-    {
-        if(m_OccupancyProbability[i] != 0.5)
-        {
-            m_MeasurementCount[i] = LOADED_MEASURECOUNT;
-            m_OccupancyCount[i] = m_OccupancyProbability[i] * (float)LOADED_MEASURECOUNT;
-        }
-    }
-}
-
-
-OccupancyMap::OccupancyMap ( const OccupancyMap& occupancyMap )
-{
-  m_OccupancyProbability = 0;
-  m_MeasurementCount = 0;
-  m_OccupancyCount = 0;
-  m_CurrentChanges = 0;
-  m_InaccessibleCount = 0;
-  m_HighSensitive = 0;
-  m_LaserMaxRange = 0;
-  m_LaserMinRange = 0;
-
-  *this = occupancyMap;
-}
-
-OccupancyMap::~OccupancyMap()
-{
-  cleanUp();
-}
-
-void OccupancyMap::initMembers()
-{
-  float mapSize;
-  ros::param::get("/homer_mapping/size", mapSize);
-  ros::param::get("/homer_mapping/resolution", m_Resolution);
-  ros::param::param("/homer_mapping/max_laser", m_LaserMaxRange, (float) 8.0);
-
-  //add one safety pixel
-  m_PixelSize = mapSize / m_Resolution + 1;
-  m_ByteSize = m_PixelSize * m_PixelSize;
-
-  m_Origin.position.x = -m_PixelSize*m_Resolution/2;
-  m_Origin.position.y = -m_PixelSize*m_Resolution/2;
-  m_Origin.orientation.w = 1.0;
-  m_Origin.orientation.x = 0.0;
-  m_Origin.orientation.y = 0.0;
-  m_Origin.orientation.z = 0.0;
-
-  ros::param::get("/homer_mapping/backside_checking", m_BacksideChecking);
-  ros::param::get("/homer_mapping/obstacle_borders", m_ObstacleBorders);
-  ros::param::get("/homer_mapping/measure_sampling_step", m_MeasureSamplingStep);
-  ros::param::get("/homer_mapping/laser_scanner/free_reading_distance", m_FreeReadingDistance);
-
-  m_OccupancyProbability = new float[m_ByteSize];
-  m_MeasurementCount = new unsigned short[m_ByteSize];
-  m_OccupancyCount = new unsigned short[m_ByteSize];
-  m_CurrentChanges = new unsigned char[m_ByteSize];
-  m_InaccessibleCount = new unsigned char[m_ByteSize];
-  m_HighSensitive = new unsigned short[m_ByteSize];
-  for ( unsigned i=0; i<m_ByteSize; i++ )
-  {
-    m_OccupancyProbability[i]=UNKNOWN_LIKELIHOOD;
-    m_OccupancyCount[i]=0;
-    m_MeasurementCount[i]=0;
-    m_CurrentChanges[i]=NO_CHANGE;
-    m_InaccessibleCount[i]=0;
-    m_HighSensitive[i] = 0;
-  }
-
-  m_ExploredRegion=Box2D<int> ( m_PixelSize/2.1, m_PixelSize/2.1, m_PixelSize/1.9, m_PixelSize/1.9 );
-  maximizeChangedRegion();
-  
-  try
-  {
-  	bool got_transform = m_tfListener.waitForTransform("/base_link","/laser", ros::Time(0), ros::Duration(1));
-  	while(!got_transform); 	
-  	{
-  		ROS_ERROR_STREAM("need transformation from base_link to laser!");
-  		got_transform = m_tfListener.waitForTransform("/base_link","/laser", ros::Time(0), ros::Duration(1));
-  	}
-  	
-    m_tfListener.lookupTransform("/base_link", "/laser", ros::Time(0), m_laserTransform);
-  }
-  catch (tf::TransformException ex) {
-      ROS_ERROR_STREAM(ex.what());
-  }
-  
-}
-
-
-OccupancyMap& OccupancyMap::operator= ( const OccupancyMap & occupancyMap )
-{
-  // free allocated memory
-  cleanUp();
-
-  m_Resolution = occupancyMap.m_Resolution;
-  m_ExploredRegion =  occupancyMap.m_ExploredRegion;
-  m_PixelSize = occupancyMap.m_PixelSize;
-  m_ByteSize = occupancyMap.m_ByteSize;
-
-  ros::param::get("/homer_mapping/backside_checking", m_BacksideChecking);
-
-  // re-allocate all arrays
-  m_OccupancyProbability = new float[m_ByteSize];
-  m_MeasurementCount = new unsigned short[m_ByteSize];
-  m_OccupancyCount = new unsigned short[m_ByteSize];
-  m_CurrentChanges = new unsigned char[m_ByteSize];
-  m_InaccessibleCount = new unsigned char[m_ByteSize];
-  m_HighSensitive = new unsigned short[m_ByteSize];
-
-  // copy array data
-  memcpy ( m_OccupancyProbability, occupancyMap.m_OccupancyProbability, m_ByteSize * sizeof ( *m_OccupancyProbability ) );
-  memcpy ( m_MeasurementCount, occupancyMap.m_MeasurementCount, m_ByteSize * sizeof ( *m_MeasurementCount ) );
-  memcpy ( m_OccupancyCount, occupancyMap.m_OccupancyCount, m_ByteSize * sizeof ( *m_OccupancyCount ) );
-  memcpy ( m_CurrentChanges, occupancyMap.m_CurrentChanges, m_ByteSize * sizeof ( *m_CurrentChanges ) );
-  memcpy ( m_InaccessibleCount, occupancyMap.m_InaccessibleCount, m_ByteSize * sizeof ( *m_InaccessibleCount ) );
-  memcpy ( m_HighSensitive, occupancyMap.m_HighSensitive, m_ByteSize * sizeof ( *m_HighSensitive) );
-
-
-  return *this;
-}
-
-int OccupancyMap::width() const
-{
-  return m_PixelSize;
-}
-
-int OccupancyMap::height() const
-{
-  return m_PixelSize;
-}
-
-float OccupancyMap::getOccupancyProbability ( Eigen::Vector2i p )
-{
-  unsigned offset = m_PixelSize * p.y() + p.x();
-  if ( offset > unsigned ( m_ByteSize ) )
-  {
-    return UNKNOWN_LIKELIHOOD;
-  }
-  return m_OccupancyProbability[ offset ];
-}
-
-void OccupancyMap::resetHighSensitive()
-{
-	ROS_INFO_STREAM("High sensitive Areas reseted");
-	m_reset_high = true;
-}
-
-void OccupancyMap::computeOccupancyProbabilities()
-{
-  for ( int y = m_ChangedRegion.minY(); y <= m_ChangedRegion.maxY(); y++ )
-  {
-    int yOffset = m_PixelSize * y;
-    for ( int x = m_ChangedRegion.minX(); x <= m_ChangedRegion.maxX(); x++ )
-    {
-      int i = x + yOffset;
-      if ( m_MeasurementCount[i] > 0 )
-      {
-        m_OccupancyProbability[i] = m_OccupancyCount[i] / static_cast<float>  	( m_MeasurementCount[i] );
-		if (m_HighSensitive[i] == 1)
-		{
-		  if(m_reset_high == true)
-		  {
-		  	m_OccupancyCount[i] = 0;
-		  	m_OccupancyProbability[i] = 0;
-		  }
-		  if(m_MeasurementCount[i] > 20 )
-		  {
-		  	m_MeasurementCount[i] = 10; 	
-		  	m_OccupancyCount[i] = 10 * m_OccupancyProbability[i];
-		  }
-		  if(m_OccupancyProbability[i] > 0.3)
-		  {
-		    m_OccupancyProbability[i] =  1 ; 
-		  }
-		}      
-      }
-      else
-      {
-        m_OccupancyProbability[i] = UNKNOWN_LIKELIHOOD;
-      }
-    }
-  }
-  if(m_reset_high  == true)
-  {
-  	m_reset_high = false;
-  }
-}
-
-void OccupancyMap::insertLaserData ( sensor_msgs::LaserScan::ConstPtr laserData, tf::Transform transform)
-{
-  m_latestMapTransform = transform;
-  markRobotPositionFree();
-  ros::Time stamp = laserData->header.stamp;
-
-  //m_LaserMaxRange = laserData->range_max;
-  m_LaserMinRange = laserData->range_min;
-
-
-  m_LaserPos.x = m_laserTransform.getOrigin().getX();
-  m_LaserPos.y = m_laserTransform.getOrigin().getY();
-
-  std::vector<RangeMeasurement> ranges;
-  ranges.reserve ( laserData->ranges.size() );
-
-  bool errorFound=false;
-  int lastValidIndex=-1;
-  float lastValidRange=m_FreeReadingDistance;
-
-  RangeMeasurement rangeMeasurement;
-  rangeMeasurement.sensorPos = m_LaserPos;
-  
-  for ( unsigned int i = 0; i < laserData->ranges.size(); i++ )
-  {
-    if ( ( laserData->ranges[i] >= m_LaserMinRange ) && ( laserData->ranges[i] <= m_LaserMaxRange ) )
-    {
-      //if we're at the end of an errorneous segment, interpolate
-      //between last valid point and current point
-      if ( errorFound )
-      {
-        //smaller of the two ranges belonging to end points
-        float range = Math::min ( lastValidRange, laserData->ranges[i] );
-        range -= m_Resolution * 2;
-
-        if ( range < m_FreeReadingDistance )
-        {
-          range = m_FreeReadingDistance;
-        }
-        else
-          if ( range > m_LaserMaxRange )
-          {
-            range = m_LaserMaxRange;
-          }
-
-        //choose smaller range
-        for ( unsigned j=lastValidIndex+1; j<i; j++ )
-        {  
-			float alpha = laserData->angle_min + j * laserData->angle_increment;
-			geometry_msgs::Point point;
-			tf::Vector3 pin;
-			tf::Vector3 pout;
-			pin.setX( cos(alpha) * range);
-			pin.setY( sin(alpha) * range);
-			pin.setZ(0);
-
-			pout = m_laserTransform * pin;
-
-			point.x = pout.x();
-			point.y = pout.y();
-
-			rangeMeasurement.endPos = point;
-			rangeMeasurement.free = true;
-			ranges.push_back ( rangeMeasurement );
-        }                             
-      }
-	  float alpha = laserData->angle_min + i * laserData->angle_increment;
-	  geometry_msgs::Point point;
-	  tf::Vector3 pin;
-	  tf::Vector3 pout;
-	  pin.setX( cos(alpha) * laserData->ranges[i]);
-	  pin.setY( sin(alpha) * laserData->ranges[i]);
-	  pin.setZ(0);
-
-	  pout = m_laserTransform * pin;
-
-	  point.x = pout.x();
-	  point.y = pout.y();
-
-	  rangeMeasurement.endPos = point;
-      rangeMeasurement.free = false;
-      ranges.push_back ( rangeMeasurement );
-
-      errorFound=false;
-      lastValidIndex=i;
-      lastValidRange=laserData->ranges[i];
-    }
-    else
-    {
-      errorFound=true;
-    }
-  }
-
-//  if ( errorFound )
-//  {
-//    for ( unsigned j=lastValidIndex+1; j<laserData->ranges.size(); j++ )
-//    {
-//      rangeMeasurement.endPos = map_tools::laser_range_to_point(m_FreeReadingDistance, j, laserData->angle_min, laserData->angle_increment, m_tfListener, laserData->header.frame_id, "/base_link"); //
-
-//      rangeMeasurement.free = true;
-//      ranges.push_back ( rangeMeasurement );
-//    }
-//  }
-
-  insertRanges ( ranges , laserData->header.stamp);
-}
-
-
-void OccupancyMap::insertRanges ( vector<RangeMeasurement> ranges, ros::Time stamp )
-{
-  clearChanges();
-
-  Eigen::Vector2i lastEndPixel;
-
-  //paint safety borders
-  if ( m_ObstacleBorders )
-  {
-    for ( unsigned i=0; i<ranges.size(); i++ )
-    {
-      geometry_msgs::Point endPosWorld = map_tools::transformPoint(ranges[i].endPos, m_latestMapTransform);
-      Eigen::Vector2i endPixel = map_tools::toMapCoords(endPosWorld, m_Origin, m_Resolution);
-
-      for ( int y=endPixel.y()-1; y <= endPixel.y() +1; y++ )
-      {
-        for ( int x=endPixel.x()-1; x <= endPixel.x() +1; x++ )
-        {
-          unsigned offset=x+m_PixelSize*y;
-          if ( offset < unsigned ( m_ByteSize ) )
-          {
-            m_CurrentChanges[ offset ] = SAFETY_BORDER;
-          }
-        }
-      }
-    }
-  }
-  //paint safety ranges
-  for ( unsigned i=0; i<ranges.size(); i++ )
-  {
-      geometry_msgs::Point startPosWorld = map_tools::transformPoint(ranges[i].endPos, m_latestMapTransform);
-      Eigen::Vector2i startPixel = map_tools::toMapCoords(startPosWorld, m_Origin, m_Resolution);
-    geometry_msgs::Point endPos;
-    endPos.x = ranges[i].endPos.x * 4;
-    endPos.y = ranges[i].endPos.y * 4;
-
-    geometry_msgs::Point endPosWorld = map_tools::transformPoint(endPos, m_latestMapTransform);
-    Eigen::Vector2i endPixel = map_tools::toMapCoords(endPosWorld, m_Origin, m_Resolution);
-
-
-    if(endPixel.x() < 0) endPixel.x() = 0;
-    if(endPixel.y() < 0) endPixel.y() = 0;
-    if(endPixel.x() >= m_PixelSize) endPixel.x() = m_PixelSize - 1;
-    if(endPixel.y() >= m_PixelSize) endPixel.y() = m_PixelSize - 1;
-
-    drawLine ( m_CurrentChanges, startPixel, endPixel, SAFETY_BORDER );
-  }
-
-  //paint end pixels
-  for ( unsigned i=0; i<ranges.size(); i++ )
-  {
-    if ( !ranges[i].free )
-    {
-      geometry_msgs::Point endPosWorld = map_tools::transformPoint(ranges[i].endPos, m_latestMapTransform);
-      Eigen::Vector2i endPixel = map_tools::toMapCoords(endPosWorld, m_Origin, m_Resolution);
-
-      if ( endPixel != lastEndPixel )
-      {
-        unsigned offset = endPixel.x() + m_PixelSize * endPixel.y();
-        if ( offset < m_ByteSize )
-        {
-          m_CurrentChanges[ offset ] = ::OCCUPIED;
-        }
-      }
-      lastEndPixel=endPixel;
-      }
-  }
-
-  //paint free ranges
-  geometry_msgs::Point sensorPosWorld = map_tools::transformPoint(ranges[0].sensorPos, m_latestMapTransform);
-  Eigen::Vector2i sensorPixel = map_tools::toMapCoords(sensorPosWorld, m_Origin, m_Resolution);
-  
-  for ( unsigned i=0; i<ranges.size(); i++ )
-  {
-    geometry_msgs::Point endPosWorld = map_tools::transformPoint(ranges[i].endPos, m_latestMapTransform);
-    Eigen::Vector2i endPixel = map_tools::toMapCoords(endPosWorld, m_Origin, m_Resolution);
-
-    m_ChangedRegion.enclose ( sensorPixel.x(), sensorPixel.y() );
-    m_ChangedRegion.enclose ( endPixel.x(), endPixel.y() );
-
-    if ( endPixel != lastEndPixel )
-    {
-        drawLine ( m_CurrentChanges, sensorPixel, endPixel, ::FREE );
-    }
-
-    lastEndPixel=endPixel;
-  }
-
-  m_ChangedRegion.clip ( Box2D<int> ( 0,0,m_PixelSize-1,m_PixelSize-1 ) );
-  m_ExploredRegion.enclose ( m_ChangedRegion );
-  applyChanges();
-  computeOccupancyProbabilities();
-}
-
-double OccupancyMap::contrastFromProbability ( int8_t prob )
-{
-  // range from 0..126 (=127 values) and 128..255 (=128 values)
-  double diff = ( ( double ) prob - UNKNOWN );
-  double contrast;
-  if ( prob <= UNKNOWN )
-  {
-    contrast = ( diff / UNKNOWN ); // 0..1
-  }
-  else
-  {
-    contrast = ( diff / ( UNKNOWN+1 ) );  // 0..1
-  }
-  return ( contrast * contrast );
-}
-
-double OccupancyMap::evaluateByContrast()
-{
-  double contrastSum = 0.0;
-  unsigned int contrastCnt = 0;
-
-  for ( int y = m_ExploredRegion.minY(); y <= m_ExploredRegion.maxY(); y++ )
-  {
-    for ( int x = m_ExploredRegion.minX(); x <= m_ExploredRegion.maxX(); x++ )
-    {
-      int i = x + y * m_PixelSize;
-      if ( m_MeasurementCount [i] > 1 )
-      {
-        int prob = m_OccupancyProbability[i] * 100;
-        if ( prob != NOT_SEEN_YET ) // ignore not yet seen cells
-        {
-          contrastSum += contrastFromProbability ( prob );
-          contrastCnt++;
-        }
-      }
-    }
-  }
-  if ( ( contrastCnt ) > 0 )
-  {
-    return ( ( contrastSum / contrastCnt ) * 100 );
-  }
-  return ( 0 );
-}
-
-
-
-vector<MeasurePoint> OccupancyMap::getMeasurePoints (sensor_msgs::LaserScanConstPtr laserData)
-{
-  vector<MeasurePoint> result;
-  result.reserve ( laserData->ranges.size() );
-
-  double minDist = m_MeasureSamplingStep;
-
-  //m_LaserMaxRange = laserData->range_max;
-  m_LaserMinRange = laserData->range_min;
-
-  Point2D lastHitPos;
-  Point2D lastUsedHitPos;
-
-  //extract points for measuring
-  for ( unsigned int i=0; i < laserData->ranges.size(); i++ )
-  {
-    if ( laserData->ranges[i] <= m_LaserMaxRange && laserData->ranges[i] >= m_LaserMinRange )
-    {
-		float alpha = laserData->angle_min + i * laserData->angle_increment;
-		tf::Vector3 pin;
-		tf::Vector3 pout;
-		pin.setX( cos(alpha) * laserData->ranges[i]);
-		pin.setY( sin(alpha) * laserData->ranges[i]);
-		pin.setZ(0);
-
-		pout = m_laserTransform * pin;
-        
-        Point2D hitPos(pout.x(), pout.y());
-
-      if ( hitPos.distance ( lastUsedHitPos ) >= minDist )
-      {
-        MeasurePoint p;
-        //preserve borders of segments
-        if ( ( i!=0 ) &&
-                ( lastUsedHitPos.distance ( lastHitPos ) > m_Resolution*0.5 ) &&
-                ( hitPos.distance ( lastHitPos ) >= minDist*1.5 ) )
-        {
-          p.hitPos = lastHitPos;
-          p.borderType = RightBorder;
-          result.push_back ( p );
-          p.hitPos = hitPos;
-          p.borderType = LeftBorder;
-          result.push_back ( p );
-          lastUsedHitPos = hitPos;
-        }
-        else
-        {
-          //save current point
-          p.hitPos = hitPos;
-          p.borderType = NoBorder;
-          result.push_back ( p );
-          lastUsedHitPos = hitPos;
-        }
-      }
-      lastHitPos = hitPos;
-    }
-  }
-
-  //the first and last one are border pixels
-  if ( result.size() > 0 )
-  {
-    result[0].borderType = LeftBorder;
-    result[result.size()-1].borderType = RightBorder;
-  }
-
-  //calculate front check points
-  for ( unsigned i=0; i < result.size(); i++ )
-  {
-    CVec2 diff;
-
-    switch ( result[i].borderType )
-    {
-      case NoBorder:
-        diff = result[i-1].hitPos - result[i+1].hitPos;
-        break;
-      case LeftBorder:
-        diff = result[i].hitPos - result[i+1].hitPos;
-        break;
-      case RightBorder:
-        diff = result[i-1].hitPos - result[i].hitPos;
-        break;
-    }
-
-    CVec2 normal = diff.rotate ( Math::Pi * 0.5 );
-    normal.normalize();
-    normal *= m_Resolution * sqrt ( 2.0 ) * 10.0;
-
-    result[i].frontPos = result[i].hitPos + normal;
-  }
-
-  return result;
-}
-
-
-float OccupancyMap::computeScore ( Pose robotPose, std::vector<MeasurePoint> measurePoints )
-{
-  // This is a very simple implementation, using only the end point of the beam.
-  // For every beam the end cell is computed and tested if the cell is occupied.
-  unsigned lastOffset=0;
-  unsigned hitOffset=0;
-  unsigned frontOffset=0;
-  float fittingFactor = 0.0;
-
-  float sinTheta = sin ( robotPose.theta() );
-  float cosTheta = cos ( robotPose.theta() );
-
-  for ( unsigned int i = 0; i < measurePoints.size(); i++ )
-  {
-    //fast variant:
-    float x = cosTheta * measurePoints[i].hitPos.x() - sinTheta * measurePoints[i].hitPos.y() + robotPose.x();
-    float y = sinTheta * measurePoints[i].hitPos.x() + cosTheta * measurePoints[i].hitPos.y() + robotPose.y();
-    geometry_msgs::Point hitPos;
-    hitPos.x = x;
-    hitPos.y = y;
-
-    Eigen::Vector2i hitPixel = map_tools::toMapCoords(hitPos, m_Origin, m_Resolution);
-    hitOffset = hitPixel.x() + m_PixelSize*hitPixel.y();
-
-    //avoid multiple measuring of same pixel or unknown pixel
-    if ( ( hitOffset == lastOffset ) || ( hitOffset >= unsigned ( m_ByteSize ) ) || ( m_MeasurementCount[hitOffset] == 0 ) )
-    {
-      continue;
-    }
-
-    if ( m_BacksideChecking )
-    {
-      //avoid matching of back and front pixels of obstacles
-      x = cosTheta * measurePoints[i].frontPos.x() - sinTheta * measurePoints[i].frontPos.y() + robotPose.x();
-      y = sinTheta * measurePoints[i].frontPos.x() + cosTheta * measurePoints[i].frontPos.y() + robotPose.y();
-      geometry_msgs::Point frontPos;
-      frontPos.x = x;
-      frontPos.y = y;
-
-      Eigen::Vector2i frontPixel = map_tools::toMapCoords(frontPos, m_Origin, m_Resolution);
-      frontOffset = frontPixel.x() + m_PixelSize*frontPixel.y();
-
-      if ( ( frontOffset >= unsigned ( m_ByteSize ) ) || ( m_MeasurementCount[frontOffset] == 0 ) )
-      {
-        continue;
-      }
-    }
-
-    lastOffset=hitOffset;
-    //fittingFactor += m_SmoothOccupancyProbability[ offset ];
-    fittingFactor += m_OccupancyProbability[ hitOffset ];
-  }
-  return fittingFactor;
-}
-
-
-template<class DataT>
-void OccupancyMap::drawLine ( DataT* data, Eigen::Vector2i& startPixel, Eigen::Vector2i& endPixel, char value )
-{
-
-  //bresenham algorithm
-  int xstart = startPixel.x();
-  int ystart = startPixel.y();
-  int xend = endPixel.x();
-  int yend = endPixel.y();
-
-  int x, y, t, dist, xerr, yerr, dx, dy, incx, incy;
-  // compute distances
-  dx = xend - xstart;
-  dy = yend - ystart;
-
-  // compute increment
-  if ( dx < 0 )
-  {
-    incx = -1;
-    dx = -dx;
-  }
-  else
-  {
-    incx = dx ? 1 : 0;
-  }
-
-  if ( dy < 0 )
-  {
-    incy = -1;
-    dy = -dy;
-  }
-  else
-  {
-    incy = dy ? 1 : 0;
-  }
-
-  // which distance is greater?
-  dist = ( dx > dy ) ? dx : dy;
-  // initializing
-  x = xstart;
-  y = ystart;
-  xerr = dx;
-  yerr = dy;
-
-  // compute cells
-  for ( t = 0; t < dist; t++ )
-  {
-    int index = x + m_PixelSize * y;
-    // set flag to free if no flag is set
-    // (do not overwrite occupied cells)
-    if(index < 0) continue;
-    if ( data[index] == NO_CHANGE )
-    {
-      data[index] = value;
-    }
-/*    if ( data[index] == OCCUPIED || data[index] == SAFETY_BORDER )
-    {
-      return;
-    }*/
-    xerr += dx;
-    yerr += dy;
-    if ( xerr > dist )
-    {
-      xerr -= dist;
-      x += incx;
-    }
-    if ( yerr > dist )
-    {
-      yerr -= dist;
-      y += incy;
-    }
-  }
-}
-
-
-void OccupancyMap::applyChanges()
-{
-  for ( int y = m_ChangedRegion.minY(); y <= m_ChangedRegion.maxY(); y++ )
-  {
-    int yOffset = m_PixelSize * y;
-    for ( int x = m_ChangedRegion.minX(); x <= m_ChangedRegion.maxX(); x++ )
-    {
-      int i = x + yOffset;
-      if ( ( m_CurrentChanges[i] == ::FREE || m_CurrentChanges[i] == ::OCCUPIED ) && m_MeasurementCount[i] < SHRT_MAX )
-      {
-        m_MeasurementCount[i]++;
-      }
-      if ( m_CurrentChanges[i] == ::OCCUPIED && m_OccupancyCount[i] < USHRT_MAX )
-      {
-        m_OccupancyCount[i]++;
-      }
-    }
-  }
-}
-
-void OccupancyMap::clearChanges()
-{
-  m_ChangedRegion.expand ( 2 );
-  m_ChangedRegion.clip ( Box2D<int> ( 0,0,m_PixelSize-1,m_PixelSize-1 ) );
-  for ( int y = m_ChangedRegion.minY(); y <= m_ChangedRegion.maxY(); y++ )
-  {
-    int yOffset = m_PixelSize * y;
-    for ( int x = m_ChangedRegion.minX(); x <= m_ChangedRegion.maxX(); x++ )
-    {
-      int i = x + yOffset;
-      m_CurrentChanges[i] = NO_CHANGE;
-    }
-  }
-  m_ChangedRegion=Box2D<int> ( m_PixelSize - 1, m_PixelSize - 1, 0, 0 );
-}
-
-void OccupancyMap::incrementMeasurementCount ( Eigen::Vector2i p )
-{
-  unsigned index = p.x() + m_PixelSize * p.y();
-  if ( index < m_ByteSize )
-  {
-    if ( m_CurrentChanges[index] == NO_CHANGE && m_MeasurementCount[index] < USHRT_MAX )
-    {
-      m_CurrentChanges[index] = ::FREE;
-      m_MeasurementCount[index]++;
-    }
-  }
-  else
-  {
-    ROS_ERROR( "Index out of bounds: x = %d, y = %d", p.x(), p.y() );
-  }
-}
-
-void OccupancyMap::incrementOccupancyCount ( Eigen::Vector2i p )
-{
-  int index = p.x() + m_PixelSize * p.y();
-  if ( ( m_CurrentChanges[index] == NO_CHANGE || m_CurrentChanges[index] == ::FREE ) && m_MeasurementCount[index] < USHRT_MAX )
-  {
-    m_CurrentChanges[index] = ::OCCUPIED;
-    m_OccupancyCount[index]++;
-  }
-}
-
-void OccupancyMap::scaleDownCounts ( int maxCount )
-{
-  clearChanges();
-  if ( maxCount <= 0 )
-  {
-    ROS_WARN("WARNING: argument maxCount is choosen to small, resetting map.");
-    memset ( m_MeasurementCount, 0, m_ByteSize );
-    memset ( m_OccupancyCount, 0, m_ByteSize );
-    memset ( m_InaccessibleCount, 0, m_ByteSize );
-  }
-  else
-  {
-    for ( unsigned i = 0; i < m_ByteSize; i++ )
-    {
-      int scalingFactor = m_MeasurementCount[i] / maxCount;
-      if ( scalingFactor != 0 )
-      {
-        m_MeasurementCount[i] /= scalingFactor;
-        m_OccupancyCount[i] /= scalingFactor;
-        m_InaccessibleCount[i] /= scalingFactor;
-      }
-      if ( m_InaccessibleCount[i] > maxCount )
-      {
-        m_InaccessibleCount[i] = maxCount;
-      }
-    }
-  }
-  maximizeChangedRegion();
-  applyChanges();
-  computeOccupancyProbabilities();
-}
-
-
-void OccupancyMap::markRobotPositionFree()
-{
-  geometry_msgs::Point point;
-  point.x = 0;
-  point.y = 0;
-  point.z = 0;
-  geometry_msgs::Point endPosWorld = map_tools::transformPoint(point, m_latestMapTransform);
-  Eigen::Vector2i robotPixel = map_tools::toMapCoords(endPosWorld, m_Origin, m_Resolution);
-
-  int width = 0.4 / m_Resolution;
-  for ( int i = robotPixel.y() - width; i <= robotPixel.y() + width; i++ )
-  {
-    for ( int j = robotPixel.x() - width; j <= robotPixel.x() + width; j++ )
-    {
-      incrementMeasurementCount ( Eigen::Vector2i ( i, j ) );
-    }
-  }
-  Box2D<int> robotBox ( robotPixel.x()-width, robotPixel.y()-width, robotPixel.x() +width, robotPixel.y() +width );
-  m_ChangedRegion.enclose ( robotBox );
-  m_ExploredRegion.enclose ( robotBox );
-}
-
-
-QImage OccupancyMap::getProbabilityQImage ( int trancparencyThreshold, bool showInaccessible ) const
-{
-  QImage retImage ( m_PixelSize, m_PixelSize, QImage::Format_RGB32 );
-  for ( int y = 0; y < m_PixelSize; y++ )
-  {
-    for ( int x = 0; x < m_PixelSize; x++ )
-    {
-      int index = x + y * m_PixelSize;
-      int value = UNKNOWN;
-      if ( m_MeasurementCount[index] > 0 )
-      {
-        value = static_cast<int> ( ( 1.0 - m_OccupancyProbability[index] ) * 255 );
-        if ( m_MeasurementCount[index] < trancparencyThreshold )
-        {
-          value = static_cast<int> ( ( 0.75 + 0.025 * m_MeasurementCount[index] ) * ( 1.0 - m_OccupancyProbability[index] ) * 255 );
-        }
-      }
-      if ( showInaccessible && m_InaccessibleCount[index] >= 2 )
-      {
-        value = 0;
-      }
-      retImage.setPixel ( x, y, qRgb ( value, value, value ) );
-    }
-  }
-  return retImage;
-}
-
-void OccupancyMap::getOccupancyProbabilityImage ( vector<int8_t>& data, int& width, int& height, float& resolution )
-{
-  width = m_PixelSize;
-  height = m_PixelSize;
-  resolution = m_Resolution;
-  data.resize(m_PixelSize * m_PixelSize);
-  std::fill(data.begin(), data.end(), (int8_t)NOT_SEEN_YET); //note: linker error without strange cast from int8_t to int8_t
-  for ( int y = m_ExploredRegion.minY(); y <= m_ExploredRegion.maxY(); y++ )
-  {
-    int yOffset = m_PixelSize * y;
-    for ( int x = m_ExploredRegion.minX(); x <= m_ExploredRegion.maxX(); x++ )
-    {
-      int i = x + yOffset;
-      if ( m_MeasurementCount[i] < 1 )
-      {
-        continue;
-      }
-      // set inaccessible points to black
-      if ( m_InaccessibleCount[i] >= 2 )
-      {
-        data[i] = 99;
-        continue;
-      }
-      if(m_OccupancyProbability[i] == UNKNOWN_LIKELIHOOD)
-      {
-          data[i] = NOT_SEEN_YET;
-      }
-      else
-      {
-        data[i] = (int)(m_OccupancyProbability[i] * 99); //TODO maybe - 2 (or *0.99 or smth)
-      }
-    }
-  }
-}
-
-void OccupancyMap::maximizeChangedRegion()
-{
-  m_ChangedRegion=m_ExploredRegion;
-}
-
-void OccupancyMap::applyMasking(const nav_msgs::OccupancyGrid::ConstPtr &msg)
-{
-    if(msg->data.size() != m_ByteSize)
-    {
-        ROS_ERROR_STREAM("Size Mismatch between SLAM map (" << m_ByteSize << ") and masking map (" << msg->data.size() << ")");
-        return;
-    }
-    for(size_t y = 0; y < msg->info.height; y++)
-    {
-        int yOffset = msg->info.width * y;
-        for(size_t x = 0; x < msg->info.width; x++)
-        {
-            int i = yOffset + x;
-
-            switch(msg->data[i])
-            {
-            case homer_mapnav_msgs::ModifyMap::BLOCKED:
-            case homer_mapnav_msgs::ModifyMap::OBSTACLE:
-                //increase measure count of cells which were not yet visible to be able to modify unknown areas
-                if(m_MeasurementCount[i] == 0)
-                    m_MeasurementCount[i] = 10;
-
-                m_OccupancyCount[i] = m_MeasurementCount[i];
-                m_OccupancyProbability[i] = 1.0;
-                m_ExploredRegion.enclose(x, y);
-                break;
-            case homer_mapnav_msgs::ModifyMap::FREE:
-                //see comment above
-                if(m_MeasurementCount[i] == 0)
-                    m_MeasurementCount[i] = 10;
-
-                m_OccupancyCount[i] = 0;
-                m_OccupancyProbability[i] = 0.0;
-                m_ExploredRegion.enclose(x, y);
-                break;
-            case homer_mapnav_msgs::ModifyMap::HIGH_SENSITIV:
-            	m_HighSensitive[i] = 1;
-                break;
-            }
-        }
-    }
-}
-
-void OccupancyMap::cleanUp()
-{
-  if ( m_OccupancyProbability )
-  {
-    delete[] m_OccupancyProbability;
-  }
-  if ( m_MeasurementCount )
-  {
-    delete[] m_MeasurementCount;
-  }
-  if ( m_OccupancyCount )
-  {
-    delete[] m_OccupancyCount;
-  }
-  if ( m_CurrentChanges )
-  {
-    delete[] m_CurrentChanges;
-  }
-  if ( m_InaccessibleCount )
-  {
-    delete[] m_InaccessibleCount;
-  }
-  if ( m_HighSensitive ) 
-  {
-    delete[] m_HighSensitive;
-  }
-}
diff --git a/homer_mapping/src/ParticleFilter/HyperSlamFilter.cpp b/homer_mapping/src/ParticleFilter/HyperSlamFilter.cpp
deleted file mode 100755
index 7265b0ea..00000000
--- a/homer_mapping/src/ParticleFilter/HyperSlamFilter.cpp
+++ /dev/null
@@ -1,202 +0,0 @@
-#include <homer_mapping/ParticleFilter/HyperSlamFilter.h>
-
-#include <vector>
-#include <cmath>
-#include <fstream>
-#include <sstream>
-#include <stdlib.h>
-
-#include "ros/ros.h"
-
-using namespace std;
-
-HyperSlamFilter::HyperSlamFilter (int particleFilterNum, int particleNum )
-{
-  m_ParticleFilterNum = particleFilterNum;
-        if ( m_ParticleFilterNum < 1 )
-        {
-                m_ParticleFilterNum = 1;
-        }
-  ROS_DEBUG( "Using %d Hyper Particles.", particleFilterNum);
-
-  m_ParticleNum = particleNum;
-
-        m_DoMapping = true;
-
-  m_DeletionThreshold = 0.98;
-
-  for ( unsigned i=0; i < m_ParticleFilterNum; i++ )
-  {
-    ostringstream stream;
-    stream << "SlamFilter " << i;
-    SlamFilter *slamFilter = new SlamFilter ( particleNum );
-    m_SlamFilters.push_back ( slamFilter );
-  }
-
-  m_BestSlamFilter = m_SlamFilters[0];
-}
-
-HyperSlamFilter::~HyperSlamFilter()
-{
-  for (unsigned i = 0; i < m_ParticleFilterNum; i++)
-  {
-    if( m_SlamFilters[i] )
-    {
-      delete m_SlamFilters[i];
-      m_SlamFilters[i] = 0;
-    }
-  }
-}
-
-void HyperSlamFilter::setRotationErrorRotating ( float percent )
-{
-   for ( unsigned i=0; i < m_SlamFilters.size(); i++ )
-   {
-     m_SlamFilters[i]->setRotationErrorRotating(percent / 100.0);
-   }
-}
-
-void HyperSlamFilter::setRotationErrorTranslating ( float degreePerMeter )
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->setRotationErrorTranslating(degreePerMeter / 180.0 * M_PI);
-  }
-}
-
-void HyperSlamFilter::setTranslationErrorTranslating ( float percent )
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->setTranslationErrorTranslating(percent / 100.0);
-  }
-}
-
-void HyperSlamFilter::setTranslationErrorRotating ( float mPerDegree )
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->setTranslationErrorRotating( mPerDegree / 180.0 * M_PI );
-  }
-}
-
-void HyperSlamFilter::setMoveJitterWhileTurning ( float mPerDegree )
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->setMoveJitterWhileTurning( mPerDegree / 180.0 * M_PI );
-  }
-}
-
-void HyperSlamFilter::setScanMatchingClusterSize ( float minClusterSize )
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->setScanMatchingClusterSize( minClusterSize );
-  }
-}
-
-void HyperSlamFilter::resetHigh()
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->resetHigh();
-  }
-}
-
-void HyperSlamFilter::setMapping ( bool doMapping )
-{
-    m_DoMapping = doMapping;
-}
-
-void HyperSlamFilter:: setOccupancyMap ( OccupancyMap* occupancyMap )
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->setOccupancyMap( occupancyMap );
-  }
-}
-
-void HyperSlamFilter::setRobotPose ( Pose pose, double scatterVarXY, double scatterVarTheta )
-{
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    m_SlamFilters[i]->setRobotPose(pose, scatterVarXY, scatterVarTheta);
-  }
-}
-
-void HyperSlamFilter::filter ( Pose currentPose, sensor_msgs::LaserScanConstPtr laserData, ros::Time measurementTime, ros::Duration &filterDuration)
-{
-  //call filter methods of all particle filters
-  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-  {
-    bool randOnOff;
-
-	if(m_SlamFilters.size() == 1)
-	{
-		randOnOff = true;
-	}
-	else
-	{
-		//if mapping is on, switch on with 80% probability to introduce some randomness in different particle filters
-		randOnOff = (rand() % 100) < 80;
-	}
-    m_SlamFilters[i]->setMapping( m_DoMapping && randOnOff );
-    m_SlamFilters[i]->filter(currentPose, laserData, measurementTime, filterDuration);
-	   	
-  }
-  if(m_SlamFilters.size() != 1)
-  {
-	  //determine which map has the best/worst contrast
-	  double bestContrast = 0.0;
-	  static unsigned int bestFilter = 0;
-	  double worstContrast = 100.0;
-	  static unsigned int worstFilter = 0;
-
-	  for ( unsigned int i=0; i < m_SlamFilters.size(); i++ )
-	  {
-		double contrast = m_SlamFilters[i]->evaluateByContrast();
-		            {
-		                    if( contrast > bestContrast )
-		                    {
-		                            bestContrast = contrast;
-		                            bestFilter = i;
-		                    }
-		                    if ( contrast < worstContrast )
-		                    {
-		                            worstContrast = contrast;
-		                            worstFilter = i;
-		                    }
-		            }
-	  }
-
-	  // set best filter
-	  SlamFilter* lastBestFilter = m_BestSlamFilter;
-	  m_BestSlamFilter = m_SlamFilters[bestFilter];
-
-	  if ( m_BestSlamFilter != lastBestFilter )
-	  {
-		ROS_INFO( "Switched to best filter %d (bestContrast: %f) -- the worst filter is %d (worstContrast: %f)", bestFilter, bestContrast, worstFilter, worstContrast); //TODO
-	  }
-
-	  if ( bestFilter != worstFilter )
-	  {
-		if ( worstContrast < ( bestContrast * m_DeletionThreshold ) )
-		{
-		  // replace the worst filter by the one with the best contrast
-		  delete m_SlamFilters[worstFilter];
-		  m_SlamFilters[worstFilter] = new SlamFilter ( * m_SlamFilters [bestFilter] );
-		}
-	  }
-   }
-}
-
-SlamFilter* HyperSlamFilter::getBestSlamFilter()
-{
-  return m_BestSlamFilter;
-}
-
-void HyperSlamFilter::setDeletionThreshold(double deletionThreshold)
-{
-  m_DeletionThreshold = deletionThreshold;
-}
diff --git a/homer_mapping/src/ParticleFilter/Particle.cpp b/homer_mapping/src/ParticleFilter/Particle.cpp
deleted file mode 100644
index 1d64cf73..00000000
--- a/homer_mapping/src/ParticleFilter/Particle.cpp
+++ /dev/null
@@ -1,10 +0,0 @@
-#include <homer_mapping/ParticleFilter/Particle.h>
-
-Particle::Particle(float weight, int id) {
-  m_Weight = weight;
-  m_Id = id;
-}
-
-Particle::~Particle() {
-}
-
diff --git a/homer_mapping/src/ParticleFilter/SlamFilter.cpp b/homer_mapping/src/ParticleFilter/SlamFilter.cpp
deleted file mode 100644
index 628ae187..00000000
--- a/homer_mapping/src/ParticleFilter/SlamFilter.cpp
+++ /dev/null
@@ -1,662 +0,0 @@
-#include <homer_mapping/ParticleFilter/SlamFilter.h>
-#include <omp.h>
-
-// minimum move for translation in m
-const float MIN_MOVE_DISTANCE2 = 0.001 * 0.001;
-// minimum turn in radiants
-const float MIN_TURN_DISTANCE2 = 0.001 * 0.001;
-
-const float M_2PI = 2 * M_PI;
-
-SlamFilter::SlamFilter ( int particleNum ) : ParticleFilter<SlamParticle> ( particleNum )
-{
-
-  m_OccupancyMap = new OccupancyMap();
-  // generate initial particles
-  for ( int i = 0; i < m_ParticleNum; i++ )
-  {
-    m_CurrentList[i] = new SlamParticle();
-    m_LastList[i] = new SlamParticle();
-  }
-
-  float rotationErrorRotating = 0.0;
-  ros::param::get("/particlefilter/error_values/rotation_error_rotating", rotationErrorRotating);
-  float rotationErrorTranslating = 0.0;
-  ros::param::get("/particlefilter/error_values/rotation_error_translating", rotationErrorTranslating);
-  float translationErrorTranslating = 0.0;
-  ros::param::get("/particlefilter/error_values/translation_error_translating", translationErrorTranslating);
-  float translationErrorRotating = 0.0;
-  ros::param::get("/particlefilter/error_values/translation_error_translating", translationErrorRotating);
-  float moveJitterWhileTurning = 0.0;
-  ros::param::get("/particlefilter/error_values/move_jitter_while_turning", moveJitterWhileTurning);
-  ros::param::get("/particlefilter/max_rotation_per_second", m_MaxRotationPerSecond);
-
-  int updateMinMoveAngleDegrees;
-  ros::param::get("/particlefilter/update_min_move_angle", updateMinMoveAngleDegrees);
-  m_UpdateMinMoveAngle = Math::deg2Rad(updateMinMoveAngleDegrees);
-  ros::param::get("/particlefilter/update_min_move_dist", m_UpdateMinMoveDistance);
-  double maxUpdateInterval;
-  ros::param::get("/particlefilter/max_update_interval", maxUpdateInterval);
-  m_MaxUpdateInterval = ros::Duration(maxUpdateInterval);
-
-  setRotationErrorRotating ( rotationErrorRotating );
-  setRotationErrorTranslating ( rotationErrorTranslating );
-  setTranslationErrorTranslating ( translationErrorTranslating );
-  setTranslationErrorRotating ( translationErrorRotating );
-  setMoveJitterWhileTurning ( moveJitterWhileTurning );
-
-  m_FirstRun = true;
-  m_DoMapping = true;
-
-  m_EffectiveParticleNum = m_ParticleNum;
-  m_LastUpdateTime = ros::Time(0);
-}
-
-SlamFilter::SlamFilter ( SlamFilter& slamFilter ) : ParticleFilter<SlamParticle> ( slamFilter.m_ParticleNum )
-{
-  m_OccupancyMap = new OccupancyMap ( * ( slamFilter.m_OccupancyMap ) );
-  // generate initial particles
-  for ( int i = 0; i < m_ParticleNum; i++ )
-  {
-    if ( slamFilter.m_CurrentList[i] == 0 )
-    {
-      m_CurrentList[i]=0;
-    }
-    else
-    {
-      m_CurrentList[i] = new SlamParticle ( * ( slamFilter.m_CurrentList[i] ) );
-    }
-    if ( slamFilter.m_LastList[i] == 0 )
-    {
-      m_LastList[i]=0;
-    }
-    else
-    {
-      m_LastList[i] = new SlamParticle ( * ( slamFilter.m_LastList[i] ) );
-    }
-  }
-
-  float rotationErrorRotating = 0.0;
-  ros::param::get("/particlefilter/error_values/rotation_error_rotating", rotationErrorRotating);
-  float rotationErrorTranslating = 0.0;
-  ros::param::get("/particlefilter/error_values/rotation_error_translating", rotationErrorTranslating);
-  float translationErrorTranslating = 0.0;
-  ros::param::get("/particlefilter/error_values/translation_error_translating", translationErrorTranslating);
-  float translationErrorRotating = 0.0;
-  ros::param::get("/particlefilter/error_values/translation_error_translating", translationErrorRotating);
-  float moveJitterWhileTurning = 0.0;
-  ros::param::get("/particlefilter/error_values/move_jitter_while_turning", moveJitterWhileTurning);
-  ros::param::get("/particlefilter/max_rotation_per_second", m_MaxRotationPerSecond);
-
-  int updateMinMoveAngleDegrees;
-  ros::param::get("/particlefilter/update_min_move_angle", updateMinMoveAngleDegrees);
-  m_UpdateMinMoveAngle = Math::deg2Rad(updateMinMoveAngleDegrees);
-  ros::param::get("/particlefilter/update_min_move_dist", m_UpdateMinMoveDistance);
-  double maxUpdateInterval;
-  ros::param::get("/particlefilter/max_update_interval", maxUpdateInterval);
-  m_MaxUpdateInterval = ros::Duration(maxUpdateInterval);
-
-  setRotationErrorRotating ( rotationErrorRotating );
-  setRotationErrorTranslating ( rotationErrorTranslating );
-  setTranslationErrorTranslating ( translationErrorTranslating );
-  setTranslationErrorRotating ( translationErrorRotating );
-  setMoveJitterWhileTurning ( moveJitterWhileTurning );
-
-  m_FirstRun = slamFilter.m_FirstRun;
-  m_DoMapping = slamFilter.m_DoMapping;
-
-  m_EffectiveParticleNum = slamFilter.m_EffectiveParticleNum;
-
-  m_LastUpdateTime = slamFilter.m_LastUpdateTime;
-
-  m_ReferencePoseOdometry = slamFilter.m_ReferencePoseOdometry;
-  m_ReferenceMeasurementTime = slamFilter.m_ReferenceMeasurementTime;
-}
-
-
-SlamFilter::~SlamFilter()
-{
-  if ( m_OccupancyMap )
-  {
-    delete m_OccupancyMap;
-  }
-  for ( int i = 0; i < m_ParticleNum; i++ )
-  {
-    if ( m_CurrentList[i] )
-    {
-      delete m_CurrentList[i];
-      m_CurrentList[i] = 0;
-    }
-    if ( m_LastList[i] )
-    {
-      delete m_LastList[i];
-      m_LastList[i] = 0;
-    }
-  }
-}
-
-
-void SlamFilter::setRotationErrorRotating ( float percent )
-{
-  m_Alpha1 = percent / 100.0;
-}
-
-void SlamFilter::resetHigh()
-{
-  m_OccupancyMap->resetHighSensitive();
-}
-
-void SlamFilter::setRotationErrorTranslating ( float degreePerMeter )
-{
-  m_Alpha2 = degreePerMeter / 180.0 * M_PI;
-}
-
-void SlamFilter::setTranslationErrorTranslating ( float percent )
-{
-  m_Alpha3 = percent / 100.0;
-}
-
-void SlamFilter::setTranslationErrorRotating ( float mPerDegree )
-{
-  m_Alpha4 = mPerDegree / 180.0 * M_PI;
-}
-
-void SlamFilter::setMoveJitterWhileTurning ( float mPerDegree )
-{
-  m_Alpha5 = mPerDegree / 180.0 * M_PI;
-}
-
-void SlamFilter::setScanMatchingClusterSize ( float minClusterSize )
-{
-  minClusterSize = minClusterSize;
-}
-
-void SlamFilter::setMapping ( bool doMapping )
-{
-  m_DoMapping = doMapping;
-}
-
-void SlamFilter:: setOccupancyMap ( OccupancyMap* occupancyMap )
-{
-    //delete old
-  if ( m_OccupancyMap )
-  {
-    delete m_OccupancyMap;
-  }
-        //copy
-  m_OccupancyMap = occupancyMap;
-}
-
-
-vector<Pose>* SlamFilter::getParticlePoses() const
-{
-  vector<Pose>* particlePoses = new vector<Pose>();
-  for ( int i = 0; i < m_ParticleNum; i++ )
-  {
-    float robotX, robotY, robotTheta;
-    SlamParticle* particle = m_CurrentList[i];
-    particle->getRobotPose ( robotX, robotY, robotTheta );
-    particlePoses->push_back ( Pose ( robotX, robotY, robotTheta ) );
-  }
-  return particlePoses;
-}
-
-vector<SlamParticle*>* SlamFilter::getParticles() const
-{
-  vector<SlamParticle*>* particles = new vector<SlamParticle*>();
-  for ( int i = 0; i < m_ParticleNum; i++ )
-  {
-    SlamParticle* particle = m_CurrentList[i];
-    particles->push_back ( particle );
-  }
-  return particles;
-}
-
-void SlamFilter::setRobotPose ( Pose pose, double scatterVarXY, double scatterVarTheta )
-{
-  // set first particle to exact position
-  m_CurrentList[0]->setRobotPose ( pose.x(), pose.y(), pose.theta() );
-  m_LastList[0]->setRobotPose ( pose.x(), pose.y(), pose.theta() );
-  // scatter remaining particles
-  for ( int i = 1; i < m_ParticleNum; ++i )
-  {
-    const double scatterX = randomGauss() * scatterVarXY;
-    const double scatterY = randomGauss() * scatterVarXY;
-    const double scatterTheta = randomGauss() * scatterVarTheta;
-
-    m_CurrentList[i]->setRobotPose ( pose.x()+scatterX, pose.y()+scatterY, pose.theta()+scatterTheta );
-    m_LastList[i]->setRobotPose ( pose.x()+scatterX, pose.y()+scatterY, pose.theta()+scatterTheta );
-  }
-}
-
-vector<float> SlamFilter::getParticleWeights() const
-{
-  vector<float> particleWeights ( m_ParticleNum );
-  for ( int i = 0; i < m_ParticleNum; i++ )
-  {
-    particleWeights[i] = m_CurrentList[i]->getWeight();
-  }
-  return particleWeights;
-}
-
-double SlamFilter::randomGauss ( float variance ) const
-{
-  if ( variance < 0 )
-  {
-    variance = -variance;
-  }
-  double x1, x2, w, y1;
-  do
-  {
-    x1 = 2.0 * random01() - 1.0;
-    x2 = 2.0 * random01() - 1.0;
-    w = x1 * x1 + x2 * x2;
-  }
-  while ( w >= 1.0 );
-
-  w = sqrt ( ( -2.0 * log ( w ) ) / w );
-  y1 = x1 * w;
-  // now y1 is uniformly distributed
-  return sqrt ( variance ) * y1;
-}
-
-vector<float> SlamFilter::filterOutliers (sensor_msgs::LaserScanConstPtr rawData, float maxDiff )
-{
-  if ( rawData->ranges.size() < 2 )
-  {
-    return rawData->ranges;
-  }
-  vector<float> filteredData = rawData->ranges;
-  for ( unsigned int i = 1; i < filteredData.size() - 1; i++ )
-  {
-    if ( abs ( ( float ) ( rawData->ranges[i-1] - rawData->ranges[i]*2 + rawData->ranges[i+1] ) ) > maxDiff*2 )
-    {
-      filteredData[i] = 0;
-    }
-  }
-  if ( fabs ( rawData->ranges[0] - rawData->ranges[1] ) > maxDiff )
-  {
-    filteredData[0] = 0;
-  }
-  if ( fabs ( rawData->ranges[ rawData->ranges.size()-1 ] - rawData->ranges[ rawData->ranges.size()-2 ] ) > maxDiff )
-  {
-    filteredData[ rawData->ranges.size()-1 ] = 0;
-  }
-
-  return filteredData;
-}
-
-void SlamFilter::filter (Pose currentPose, sensor_msgs::LaserScanConstPtr laserData, ros::Time measurementTime, ros::Duration &FilterDuration)
-{
-  // if first run, initialize data
-  if ( m_FirstRun )
-  {
-    m_FirstRun = false;
-    // only do mapping, save first pose as reference
-    if ( m_DoMapping )
-    {
-      tf::Transform transform(tf::createQuaternionFromYaw(0.0), tf::Vector3(0.0, 0.0, 0.0));
-      m_OccupancyMap->insertLaserData ( laserData , transform);
-    }
-    m_CurrentLaserData = boost::make_shared<sensor_msgs::LaserScan>(*laserData); //copy const ptr to be able to change values; //test
-    m_ReferencePoseOdometry = currentPose;
-    m_ReferenceMeasurementTime = measurementTime;
-
-    measure();
-    ROS_INFO_STREAM("first run!");
-    normalize();
-    sort ( 0, m_ParticleNum - 1 );
-    return;
-  }
-  //m_CurrentLaserConfig = laserConf;
-  m_CurrentPoseOdometry = currentPose;
-  m_CurrentLaserData = boost::make_shared<sensor_msgs::LaserScan>(*laserData); //copy const ptr to be able to change values
-  m_CurrentLaserData->ranges = filterOutliers ( laserData, 0.3 );
-
-  Transformation2D trans = m_CurrentPoseOdometry - m_ReferencePoseOdometry;
-
-  // do not resample if move to small
-  if ( sqr ( trans.x() ) + sqr ( trans.y() ) < MIN_MOVE_DISTANCE2 && sqr ( trans.theta() ) < MIN_TURN_DISTANCE2 )
-  {
-    ROS_DEBUG_STREAM( "Move too small, will not resample." );
-    if ( m_EffectiveParticleNum < m_ParticleNum / 10 )
-    {
-      resample();
-      ROS_INFO_STREAM( "Particles too scattered, resampling." );
-      // filter steps
-	  drift();
-	  measure();
-	  normalize();
-
-	  sort ( 0, m_ParticleNum - 1 );
-    }
-  }
-  else
-  {
-    resample();
-    // filter steps
-	drift();
-	measure();
-	normalize();
-
-	sort ( 0, m_ParticleNum - 1 );
-  }
-
-  Pose likeliestPose = getLikeliestPose(measurementTime); //test
-  Transformation2D transSinceLastUpdate = likeliestPose - m_LastUpdatePose;
-
-  ostringstream stream;
-  stream.precision ( 2 );
-  stream << "Transformation since last update: angle=" << Math::rad2Deg ( transSinceLastUpdate.theta() ) << " dist=" << transSinceLastUpdate.magnitude() << "m" << endl;
-
-  bool update = ( fabs ( transSinceLastUpdate.theta() ) > m_UpdateMinMoveAngle  ) ||
-                ( transSinceLastUpdate.magnitude() > m_UpdateMinMoveDistance ) ||
-                ( ( measurementTime - m_LastUpdateTime ) > m_MaxUpdateInterval );
-
-  if ( m_DoMapping && update )
-  {
-    stream << "Updating map.";
-	double elapsedSeconds = ( measurementTime - m_ReferenceMeasurementTime ).toSec();
-	double thetaPerSecond;
-	if(elapsedSeconds == 0.0)
-	{
-	  thetaPerSecond = trans.theta();
-	}
-	else
-	{
-	  thetaPerSecond = trans.theta() / elapsedSeconds;
-	}    
-    
-    m_LastUpdatePose = likeliestPose;
-    m_LastUpdateTime = measurementTime;
-    if ( std::fabs(thetaPerSecond) < m_MaxRotationPerSecond )
-    {
-      updateMap();
-    }
-    else
-    {
-      ROS_DEBUG_STREAM( "No mapping performed, rotation angle too big." );
-    }
-  }
-  else
-  {
-    stream << "No map update performed.";
-  }
-  ROS_DEBUG_STREAM( stream.str() );
-  // safe last used pose and laserdata as reference
-  
-  m_ReferencePoseOdometry = m_CurrentPoseOdometry;
-  m_ReferenceMeasurementTime = measurementTime;
-}
-
-/**
- *  For the probabilistic motion model of the robot we use the following three parameters:
- *  - When the robot starts, the initial orientation may have errors (a few degrees). (m_InitialOrientationError)
- *  - The distance of the robot movement may be wrong (a percentage of the moved distance). (m_TranslationError)
- *  - The orientation of the robot when the motion was finished may be wrong (a percentage of the rotation) (m_RotationError).
- *  [cf. "An Efficient FastSLAM Algorithm for Generating Maps of Large-Scale Cyclic Environments
- *   from Raw Laser Range Measurements", Dirk Haenelt et. al.]
- *  We use Gaussian-Distributions to estimate the error.
- *  The expected value of the errors are zero.
- */
-
-void SlamFilter::drift()
-{
-
-  float rx = m_ReferencePoseOdometry.x();
-  float ry = m_ReferencePoseOdometry.y();
-  float rt = m_ReferencePoseOdometry.theta();
-  float cx = m_CurrentPoseOdometry.x();
-  float cy = m_CurrentPoseOdometry.y();
-  float ct = m_CurrentPoseOdometry.theta();
-
-  Transformation2D odoTrans = m_CurrentPoseOdometry - m_ReferencePoseOdometry;
-
-  // find out if driving forward or backward
-  bool backwardMove = false;
-  float scalar = odoTrans.x() * cosf ( rt ) + odoTrans.y() * sinf ( rt );
-  if ( scalar <= 0 )
-  {
-    backwardMove = true;
-  }
-  float distance = sqrt ( sqr ( odoTrans.x() ) + sqr ( odoTrans.y() ) );
-  float deltaRot1, deltaTrans, deltaRot2;
-  if ( distance < sqrt ( MIN_MOVE_DISTANCE2 ) )
-  {
-    deltaRot1 = odoTrans.theta();
-    deltaTrans = 0.0;
-    deltaRot2 = 0.0;
-  }
-  else if ( backwardMove )
-  {
-    deltaRot1 = atan2 ( ry - cy, rx - cx ) - rt;
-    deltaTrans = - distance;
-    deltaRot2 = ct - rt - deltaRot1;
-  }
-  else
-  {
-    deltaRot1 = atan2 ( odoTrans.y(), odoTrans.x() ) - rt;
-    deltaTrans = distance;
-    deltaRot2 = ct - rt - deltaRot1;
-  }
-
-  while ( deltaRot1 >= M_PI ) deltaRot1 -= M_2PI;
-  while ( deltaRot1 < -M_PI ) deltaRot1 += M_2PI;
-  while ( deltaRot2 >= M_PI ) deltaRot2 -= M_2PI;
-  while ( deltaRot2 < -M_PI ) deltaRot2 += M_2PI;
-
-  // always leave one particle with pure displacement
-  SlamParticle* particle = m_CurrentList[0];
-  // get stored pose
-  float robotX, robotY, robotTheta;
-  particle->getRobotPose ( robotX, robotY, robotTheta );
-  Pose pose ( robotX, robotY, robotTheta );
-  // move pose
-  float posX = pose.x() + deltaTrans * cos ( pose.theta() + deltaRot1 );
-  float posY = pose.y() + deltaTrans * sin ( pose.theta() + deltaRot1 );
-  float theta  = pose.theta() + deltaRot1 + deltaRot2;
-  while ( theta > M_PI ) theta -= M_2PI;
-  while ( theta <= -M_PI ) theta += M_2PI;
-  // save new pose
-  particle->setRobotPose ( posX, posY, theta );
-  int i = 1;
-  
-  //calculating parallel on 8 threats 
-  //TODO: ERROR ON RESET MAPS
-//  omp_set_num_threads(4);
-//  #pragma omp parallel for 
-  for ( i = 1; i < m_ParticleNum; i++ )
-  {
-    SlamParticle* particle = m_CurrentList[i];
-    // get stored pose
-    float robotX, robotY, robotTheta;
-    particle->getRobotPose ( robotX, robotY, robotTheta );
-    Pose pose ( robotX, robotY, robotTheta );
-    // move pose
-    float estDeltaRot1 = deltaRot1 - randomGauss ( m_Alpha1 * fabs ( deltaRot1 ) + m_Alpha2 * deltaTrans );
-    float estDeltaTrans = deltaTrans - randomGauss ( m_Alpha3 * deltaTrans + m_Alpha4 * ( fabs ( deltaRot1 ) + fabs ( deltaRot2 ) ) );
-    float estDeltaRot2 = deltaRot2 - randomGauss ( m_Alpha1 * fabs ( deltaRot2 ) + m_Alpha2 * deltaTrans );
-
-    float posX = pose.x() + estDeltaTrans * cos ( pose.theta() + estDeltaRot1 ) + randomGauss ( m_Alpha5 * fabs ( estDeltaRot1 + estDeltaRot2 ) );
-    float posY = pose.y() + estDeltaTrans * sin ( pose.theta() + estDeltaRot1 ) + randomGauss ( m_Alpha5 * fabs ( estDeltaRot1 + estDeltaRot2 ) );
-    float theta  = pose.theta() + estDeltaRot1 + estDeltaRot2;
-
-    // save new pose
-    while ( theta > M_PI ) theta -= M_2PI;
-    while ( theta <= -M_PI ) theta += M_2PI;
-
-    particle->setRobotPose ( posX, posY, theta );
-  }
-  
-  
-}
-
-
-void SlamFilter::measure()
-{
-  if ( m_OccupancyMap )
-  {
-    m_MeasurePoints = m_OccupancyMap->getMeasurePoints ( m_CurrentLaserData );
-
-    //calculating parallel on 8 threats 
-    omp_set_num_threads(8);
-    int i = 0;
-    //#pragma omp parallel for 
-    for (i = 0; i < m_ParticleNum; i++ )
-    {
-      SlamParticle* particle = m_CurrentList[i];
-      if ( !particle )
-      {
-        ROS_ERROR_STREAM("ERROR: Particle is NULL-pointer!");
-      }
-      else
-      {
-        // calculate weights
-        float robotX, robotY, robotTheta;
-        particle->getRobotPose ( robotX, robotY, robotTheta );
-        Pose pose ( robotX, robotY, robotTheta );
-        float weight = m_OccupancyMap->computeScore ( pose, m_MeasurePoints );
-        particle->setWeight ( weight );
-      }
-    }
-  }
-  m_EffectiveParticleNum = getEffectiveParticleNum2();
-
-}
-
-void SlamFilter::updateMap()
-{
-  m_OccupancyMap->insertLaserData ( m_CurrentLaserData, m_latestTransform);
-}
-
-void SlamFilter::printParticles() const
-{
-  cout << endl << "### PARTICLE LIST ###" << endl;
-  cout << right << fixed;
-  cout.width ( 5 );
-  for ( int i = 0; i < m_ParticleNum; i++ )
-  {
-    SlamParticle* p_particle = m_CurrentList[i];
-    if ( p_particle )
-    {
-      float robotX, robotY, robotTheta;
-      p_particle->getRobotPose ( robotX, robotY, robotTheta );
-      cout << "Particle " << i << ": (" << robotX << "," << robotY << "," << robotTheta * 180.0 / M_PI << "), weight:\t" << p_particle->getWeight() << endl;
-    }
-  }
-  cout << "### END OF LIST ###" << endl;
-}
-
-
-void SlamFilter::reduceParticleNumber ( int newParticleNum )
-{
-  if ( newParticleNum < m_ParticleNum )
-  {
-
-    SlamParticle** newCurrentList = new SlamParticle*[newParticleNum];
-    SlamParticle** newLastList = new SlamParticle*[newParticleNum];
-
-    for ( int i = 0; i < newParticleNum; i++ )
-    {
-      newCurrentList[i] = m_CurrentList[i];
-      newLastList[i] = m_LastList[i];
-    }
-
-    for ( int i = newParticleNum + 1; i < m_ParticleNum; i++ )
-    {
-      delete m_CurrentList[i];
-      delete m_LastList[i];
-    }
-    delete[] m_CurrentList;
-    delete[] m_LastList;
-
-    m_CurrentList = newCurrentList;
-    m_LastList = newLastList;
-
-    m_ParticleNum = newParticleNum;
-    normalize();
-  }
-}
-
-Pose SlamFilter::getLikeliestPose(ros::Time poseTime) 
-{
-  float percentage = 0.4; //TODO param? //test 
-  float sumX = 0, sumY = 0, sumDirX = 0, sumDirY = 0;
-  int numParticles = static_cast<int> ( percentage / 100 * m_ParticleNum );
-  if ( 0 == numParticles )
-  {
-    numParticles = 1;
-  }
-  for ( int i = 0; i < numParticles; i++ )
-  {
-    float robotX, robotY, robotTheta;
-    m_CurrentList[i]->getRobotPose ( robotX, robotY, robotTheta );
-    sumX += robotX;
-    sumY += robotY;
-    // calculate sum of vectors in unit circle
-    sumDirX += cos ( robotTheta );
-    sumDirY += sin ( robotTheta );
-  }
-  float meanTheta = atan2 ( sumDirY, sumDirX );
-  float meanX = sumX / numParticles;
-  float meanY = sumY / numParticles;
-  //broadcast transform map -> base_link
-  tf::Transform transform(tf::createQuaternionFromYaw(meanTheta),
-                          tf::Vector3(sumX / numParticles, sumY / numParticles, 0.0));
-  tf::TransformBroadcaster tfBroadcaster;
-  m_latestTransform = transform;
-   
-  tfBroadcaster.sendTransform(tf::StampedTransform(m_latestTransform, poseTime, "/map", "/base_link"));
-  return Pose ( meanX, meanY, meanTheta );
-}
-
-OccupancyMap* SlamFilter::getLikeliestMap() const
-{
-  return m_OccupancyMap;
-}
-
-void SlamFilter::getPoseVariances ( int particleNum, float& poseVarianceX, float& poseVarianceY )
-{
-
-  // the particles of m_CurrentList are sorted by their weights
-  if ( particleNum > m_ParticleNum || particleNum <= 0 )
-  {
-    particleNum = m_ParticleNum;
-  }
-  // calculate average pose
-  float averagePoseX = 0;
-  float averagePoseY = 0;
-  float robotX = 0.0;
-  float robotY = 0.0;
-  float robotTheta = 0.0;
-  for ( int i = 0; i < particleNum; i++ )
-  {
-    m_CurrentList[i]->getRobotPose ( robotX, robotY, robotTheta );
-    averagePoseX += robotX;
-    averagePoseY += robotY;
-  }
-  averagePoseX /= particleNum;
-  averagePoseY /= particleNum;
-
-  // calculate standard deviation of pose
-  poseVarianceX = 0.0;
-  poseVarianceY = 0.0;
-  for ( int i = 0; i < particleNum; i++ )
-  {
-    m_CurrentList[i]->getRobotPose ( robotX, robotY, robotTheta );
-    poseVarianceX += ( averagePoseX - robotX ) * ( averagePoseX - robotX );
-    poseVarianceY += ( averagePoseY - robotY ) * ( averagePoseY - robotY );
-  }
-  poseVarianceX /= particleNum;
-  poseVarianceY /= particleNum;
-}
-
-double SlamFilter::evaluateByContrast()
-{
-  return m_OccupancyMap->evaluateByContrast();
-}
-
-void SlamFilter::applyMasking(const nav_msgs::OccupancyGrid::ConstPtr &msg)
-{
-    m_OccupancyMap->applyMasking(msg);
-}
diff --git a/homer_mapping/src/ParticleFilter/SlamParticle.cpp b/homer_mapping/src/ParticleFilter/SlamParticle.cpp
deleted file mode 100644
index c0024dec..00000000
--- a/homer_mapping/src/ParticleFilter/SlamParticle.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#include <homer_mapping/ParticleFilter/SlamParticle.h>
-
-SlamParticle::SlamParticle(float weight, float robotX, float robotY, float robotTheta) : Particle(weight) {
-  m_RobotPositionX = robotX;
-  m_RobotPositionY = robotY;
-  m_RobotOrientation = robotTheta;
-}
-
-SlamParticle::SlamParticle( SlamParticle& slamParticle )
-{
-  m_RobotPositionX = slamParticle.m_RobotPositionX;
-  m_RobotPositionY = slamParticle.m_RobotPositionY;
-  m_RobotOrientation = slamParticle.m_RobotOrientation;
-}
-
-SlamParticle::~SlamParticle() {
-}
-
-void SlamParticle::setRobotPose(float robotX, float robotY, float robotTheta) {
-  m_RobotPositionX = robotX;
-  m_RobotPositionY = robotY;
-  m_RobotOrientation = robotTheta;
-}
-
-void SlamParticle::getRobotPose(float& robotX, float& robotY, float& robotTheta) {
-  robotX = m_RobotPositionX;
-  robotY = m_RobotPositionY;
-  robotTheta = m_RobotOrientation;
-}
-
diff --git a/homer_mapping/src/slam_node.cpp b/homer_mapping/src/slam_node.cpp
deleted file mode 100644
index c80692b2..00000000
--- a/homer_mapping/src/slam_node.cpp
+++ /dev/null
@@ -1,387 +0,0 @@
-#include <homer_mapping/slam_node.h>
-
-SlamNode::SlamNode(ros::NodeHandle* nh)
-  : m_HyperSlamFilter( 0 )
-{
-    init();
-
-    // subscribe to topics
-    m_LaserScanSubscriber 	= nh->subscribe<sensor_msgs::LaserScan>("/scan", 1, &SlamNode::callbackLaserScan, this);
-    m_OdometrySubscriber 	= nh->subscribe<nav_msgs::Odometry>("/odom", 1, &SlamNode::callbackOdometry, this);
-    m_UserDefPoseSubscriber = nh->subscribe<geometry_msgs::Pose>("/homer_mapping/userdef_pose", 1, &SlamNode::callbackUserDefPose, this);
-	m_InitialPoseSubscriber = nh->subscribe<geometry_msgs::PoseWithCovarianceStamped>("/initialpose", 1, &SlamNode::callbackInitialPose, this);
-    m_DoMappingSubscriber 	= nh->subscribe<std_msgs::Bool>("/homer_mapping/do_mapping", 1, &SlamNode::callbackDoMapping, this);
-    m_ResetMapSubscriber 	= nh->subscribe<std_msgs::Empty>("/map_manager/reset_maps", 1, &SlamNode::callbackResetMap, this);
-    m_LoadMapSubscriber 	= nh->subscribe<nav_msgs::OccupancyGrid>("/map_manager/loaded_map", 1, &SlamNode::callbackLoadedMap, this);
-    m_MaskingSubscriber 	= nh->subscribe<nav_msgs::OccupancyGrid>("/map_manager/mask_slam", 1, &SlamNode::callbackMasking, this);
-    m_ResetHighSubscriber 	= nh->subscribe<std_msgs::Empty>("/map_manager/reset_high", 1, &SlamNode::callbackResetHigh, this);
-
-    // advertise topics
-    m_PoseStampedPublisher 	= nh->advertise<geometry_msgs::PoseStamped>("/pose", 2);
-    m_SLAMMapPublisher 		= nh->advertise<nav_msgs::OccupancyGrid>("/homer_mapping/slam_map", 1);
-    
-    
-  geometry_msgs::PoseStamped poseMsg;
-  poseMsg.header.stamp = ros::Time(0);
-  poseMsg.header.frame_id = "map";
-  poseMsg.pose.position.x = 0.0;
-  poseMsg.pose.position.y = 0.0;
-  poseMsg.pose.position.z = 0.0;
-  tf::Quaternion quatTF = tf::createQuaternionFromYaw(0.0);
-  geometry_msgs::Quaternion quatMsg;
-  tf::quaternionTFToMsg(quatTF, quatMsg); //conversion from tf::Quaternion to
-  poseMsg.pose.orientation = quatMsg;
-  m_PoseStampedPublisher.publish(poseMsg);
-
-////  //broadcast transform map -> base_link
-  tf::Transform transform(quatTF, tf::Vector3(0.0, 0.0, 0.0));
-  m_tfBroadcaster.sendTransform(tf::StampedTransform(transform, poseMsg.header.stamp, "map", "base_link"));
-  Pose userdef_pose(poseMsg.pose.position.x, poseMsg.pose.position.y, tf::getYaw(poseMsg.pose.orientation));
-  m_HyperSlamFilter->setRobotPose( userdef_pose, m_ScatterVarXY, m_ScatterVarTheta );
-    
-}
-
-void SlamNode::init()
-{
-    double waitTime;
-	ros::param::get("/particlefilter/wait_time", waitTime);
-    m_WaitDuration = ros::Duration(waitTime);
-	ros::param::get("/selflocalization/scatter_var_xy", m_ScatterVarXY);
-	ros::param::get("/selflocalization/scatter_var_theta", m_ScatterVarTheta);
-
-    m_DoMapping = true;
-
-    int particleNum;
-	ros::param::get("/particlefilter/particle_num", particleNum);
-    int particleFilterNum;
-	ros::param::get("/particlefilter/hyper_slamfilter/particlefilter_num", particleFilterNum);
-    m_HyperSlamFilter = new HyperSlamFilter ( particleFilterNum, particleNum );
-
-    m_ReferenceOdometryTime = ros::Time(0);
-    m_LastMapSendTime 		= ros::Time(0);
-    m_LastPositionSendTime 	= ros::Time(0);
-    m_LastMappingTime 		= ros::Time(0);
-    m_ReferenceOdometryTime = ros::Time(0);
-    
-    m_laser_queue.clear();
-    m_odom_queue.clear();
-}
-
-SlamNode::~SlamNode()
-{
-  delete m_HyperSlamFilter;
-}
-
-void SlamNode::resetMaps()
-{
-  ROS_INFO( "Resetting maps.." );
-
-  delete m_HyperSlamFilter;
-  m_HyperSlamFilter = 0;
-
-  init();
-  geometry_msgs::PoseStamped poseMsg;
-  poseMsg.header.stamp = ros::Time::now();
-  poseMsg.header.frame_id = "map";
-  poseMsg.pose.position.x = 0.0;
-  poseMsg.pose.position.y = 0.0;
-  poseMsg.pose.position.z = 0.0;
-  tf::Quaternion quatTF = tf::createQuaternionFromYaw(0.0);
-  geometry_msgs::Quaternion quatMsg;
-  tf::quaternionTFToMsg(quatTF, quatMsg); //conversion from tf::Quaternion to
-  poseMsg.pose.orientation = quatMsg;
-  m_PoseStampedPublisher.publish(poseMsg);
-
-  m_LastLikeliestPose.set(0.0, 0.0);
-  m_LastLikeliestPose.setTheta(0.0f);
-
-////  //broadcast transform map -> base_link
-  tf::Transform transform(quatTF, tf::Vector3(0.0, 0.0, 0.0));
-  m_tfBroadcaster.sendTransform(tf::StampedTransform(transform, poseMsg.header.stamp, "map", "base_link"));
-  Pose userdef_pose(poseMsg.pose.position.x, poseMsg.pose.position.y, tf::getYaw(poseMsg.pose.orientation));
-  m_HyperSlamFilter->setRobotPose( userdef_pose, m_ScatterVarXY, m_ScatterVarTheta );
-
-//  sendMapDataMessage();
-}
-
-void SlamNode::callbackResetHigh(const std_msgs::Empty::ConstPtr& msg)
-{
-	m_HyperSlamFilter->resetHigh();
-}
-
-
-void SlamNode::sendMapDataMessage(ros::Time mapTime)
-{
-  std::vector<int8_t> mapData;
-  int width, height;
-  float resolution;
-
-  OccupancyMap* occMap = m_HyperSlamFilter->getBestSlamFilter()->getLikeliestMap();
-  occMap->getOccupancyProbabilityImage (mapData, width, height, resolution);
-
-  if ( width != height )
-  {
-    ROS_ERROR_STREAM("ERROR: Map is not quadratic! can not send map!");
-  }
-  else
-  {
-    nav_msgs::OccupancyGrid mapMsg;
-    std_msgs::Header header;
-    header.stamp = mapTime;
-    header.frame_id = "map";
-    mapMsg.header = header;
-    nav_msgs::MapMetaData mapMetaData;
-    mapMetaData.width = width;
-    mapMetaData.height = height;
-    mapMetaData.resolution = resolution;
-    mapMetaData.origin.position.x = -height*resolution/2;
-    mapMetaData.origin.position.y = -width*resolution/2;
-    mapMetaData.origin.orientation.w = 1.0;
-    mapMetaData.origin.orientation.x = 0.0;
-    mapMetaData.origin.orientation.y = 0.0;
-    mapMetaData.origin.orientation.z = 0.0;
-    mapMsg.info = mapMetaData;
-    mapMsg.data = mapData;
-
-    m_SLAMMapPublisher.publish(mapMsg);
-  }
-}
-
-void SlamNode::callbackUserDefPose( const geometry_msgs::Pose::ConstPtr& msg )
-{
-    Pose userdef_pose(msg->position.x, msg->position.y, tf::getYaw(msg->orientation));
-    m_HyperSlamFilter->setRobotPose( userdef_pose, m_ScatterVarXY, m_ScatterVarTheta );
-}
-
-void SlamNode::callbackInitialPose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
-{
-    Pose userdef_pose(msg->pose.pose.position.x, msg->pose.pose.position.y, tf::getYaw(msg->pose.pose.orientation));
-    m_HyperSlamFilter->setRobotPose( userdef_pose, m_ScatterVarXY, m_ScatterVarTheta );
-}
-
-void SlamNode::callbackLaserScan(const sensor_msgs::LaserScan::ConstPtr& msg)
-{
-	m_laser_queue.push_back(msg);
-	if(m_laser_queue.size() > 5) //Todo param
-	{
-		m_laser_queue.erase(m_laser_queue.begin());
-	}
-}
-
-void SlamNode::callbackOdometry( const nav_msgs::Odometry::ConstPtr& msg) 
-{
-	m_odom_queue.push_back(msg);
-	static int last_i = 0;
-	if(m_odom_queue.size() > 5) //Todo param
-	{
-		last_i--;
-		if(last_i < 0)
-		{
-			last_i = 0;
-		}
-		m_odom_queue.erase(m_odom_queue.begin());
-	}
-
-	static Pose last_interpolatedPose(0.0, 0.0, 0.0);
-    ros::Time currentOdometryTime = msg->header.stamp; 
-	if( ( ros::Time::now() - m_LastMappingTime > m_WaitDuration ) &&  m_odom_queue.size() > 1 && m_laser_queue.size() > 0)
-	{
-		int i, j;
-		bool got_match = false;
-		
-		for( i = m_odom_queue.size()-1; i > 0 ; i--)
-		{
-			//Check if we would repeat a calculation which is already done but still in the queue
-			if(m_odom_queue.at(i-1)->header.stamp == m_ReferenceOdometryTime)
-			{
-				break;
-			}
-			
-			for(j = m_laser_queue.size()-1; j > -1; j--)
-			{
-				//	find a laserscan in between two odometry readings (or at the same time)
-				if(
-					(m_laser_queue.at(j)->header.stamp >= m_odom_queue.at(i-1)->header.stamp)
-					&& 
-					(m_odom_queue.at(i)->header.stamp >= m_laser_queue.at(j)->header.stamp) 
-				  )
-				{
-					got_match = true;
-					break;
-				}
-			}
-			if(got_match)
-			{
-				break;
-			}
-		}
-		
-		if(got_match)
-		{
-			last_i = i;
-			m_LastLaserData = m_laser_queue.at(j);
-			m_LastMappingTime = m_LastLaserData->header.stamp;
-
-		 	float odoX = m_odom_queue.at(i)->pose.pose.position.x;
-			float odoY = m_odom_queue.at(i)->pose.pose.position.y;
-			float odoTheta = tf::getYaw(m_odom_queue.at(i)->pose.pose.orientation);
-			Pose currentOdometryPose ( odoX, odoY, odoTheta );
-			currentOdometryTime = m_odom_queue.at(i)->header.stamp; 
-
-		 	odoX = m_odom_queue.at(i-1)->pose.pose.position.x;
-			odoY = m_odom_queue.at(i-1)->pose.pose.position.y;
-			odoTheta = tf::getYaw(m_odom_queue.at(i-1)->pose.pose.orientation);
-			Pose lastOdometryPose ( odoX, odoY, odoTheta );
-    		m_ReferenceOdometryPose = lastOdometryPose;
-    		m_ReferenceOdometryTime = m_odom_queue.at(i-1)->header.stamp;
-
-			
-			ros::Time startTime = ros::Time::now();
-			// laserscan in between current odometry reading and m_ReferenceOdometry
-			// -> calculate pose of robot during laser scan
-			ros::Duration d1 = m_LastLaserData->header.stamp - m_ReferenceOdometryTime;
-			ros::Duration d2 = currentOdometryTime - m_ReferenceOdometryTime;
-
-			float timeFactor;
-			if(d1.toSec() == 0.0)
-			{
-				timeFactor = 0.0f;
-			}
-			else if(d2.toSec() == 0.0)
-			{
-				timeFactor = 1.0f;
-			}
-			else
-			{
-				timeFactor = d1.toSec() / d2.toSec();
-			}
-			ros::Duration duration = ros::Duration(0);
-
-			last_interpolatedPose = m_ReferenceOdometryPose.interpolate ( currentOdometryPose, timeFactor );
-			m_HyperSlamFilter->filter( last_interpolatedPose, m_LastLaserData, m_LastLaserData->header.stamp, duration);
-			ros::Time finishTime = ros::Time::now();
-
-			m_LastLikeliestPose = m_HyperSlamFilter->getBestSlamFilter()->getLikeliestPose(m_LastLaserData->header.stamp);
-
-			//TODO löschen
-			m_LastPositionSendTime = m_LastLaserData->header.stamp;
-			// send map max. every 500 ms
-			if ( (m_LastLaserData->header.stamp - m_LastMapSendTime).toSec() > 0.5 )
-			{
-				sendMapDataMessage(m_LastLaserData->header.stamp);
-				m_LastMapSendTime = m_LastLaserData->header.stamp;
-			}
-
-			ROS_DEBUG_STREAM("Pos. data calc time: " << (finishTime - startTime).toSec() << "s" );
-			ROS_DEBUG_STREAM("Map send Interval: " << ( finishTime - m_LastPositionSendTime ).toSec() << "s" );
-		}
-	}
-	Pose currentPose = m_LastLikeliestPose;
-	//currentPose.setX(currentPose.x() - last_interpolatedPose.x());
-	//currentPose.setY(currentPose.y() - last_interpolatedPose.y());
-	//currentPose.setTheta(currentPose.theta() - last_interpolatedPose.theta());
-	for(int i = (last_i-1<0?0:last_i-1); i < m_odom_queue.size(); i++)
-	{
-		currentPose.setX(currentPose.x() + m_odom_queue.at(i)->twist.twist.linear.x);
-		currentPose.setY(currentPose.y() + m_odom_queue.at(i)->twist.twist.linear.y);
-		currentPose.setTheta(currentPose.theta() + m_odom_queue.at(i)->twist.twist.angular.z);
-	}
-
-	geometry_msgs::PoseStamped poseMsg;
-	//header
-	poseMsg.header.stamp = msg->header.stamp;
-	poseMsg.header.frame_id = "map";
-
-	//position and orientation
-	poseMsg.pose.position.x = currentPose.x();
-	poseMsg.pose.position.y = currentPose.y();
-	poseMsg.pose.position.z = 0.0;
-	tf::Quaternion quatTF = tf::createQuaternionFromYaw(currentPose.theta());
-	geometry_msgs::Quaternion quatMsg;
-	tf::quaternionTFToMsg(quatTF, quatMsg); //conversion from tf::Quaternion to geometry_msgs::Quaternion
-	poseMsg.pose.orientation = quatMsg;
-	m_PoseStampedPublisher.publish(poseMsg);
-	//broadcast transform map -> base_link
-	//tf::Transform transform(quatTF,tf::Vector3(currentPose.x(), currentPose.y(), 0.0));
-  	//m_tfBroadcaster.sendTransform(tf::StampedTransform(transform, msg->header.stamp, "map", "base_link"));
-}
-
-void SlamNode::callbackDoMapping(const std_msgs::Bool::ConstPtr &msg)
-{
-    m_DoMapping = msg->data;
-    m_HyperSlamFilter->setMapping ( m_DoMapping );
-    ROS_INFO_STREAM( "Do mapping is set to " << ( m_DoMapping ) );
-}
-
-void SlamNode::callbackResetMap(const std_msgs::Empty::ConstPtr &msg)
-{
-    resetMaps();
-}
-
-void SlamNode::callbackLoadedMap(const nav_msgs::OccupancyGrid::ConstPtr &msg)
-{
-    float res = msg->info.resolution;
-    int height = msg->info.height; // cell size
-    int width = msg->info.width; //cell size
-    if(height!=width) {
-        ROS_ERROR("Height != width in loaded map");
-        return;
-    }
-
-    //convert map vector from ros format to robbie probability array
-    float* map = new float[msg->data.size()];
-     //generate exploredRegion
-     int minX = INT_MIN;
-     int minY = INT_MIN;
-     int maxX = INT_MAX;
-     int maxY = INT_MAX;
-     for(size_t y = 0; y < msg->info.height; y++)
-     {
-         int yOffset = msg->info.width * y;
-         for(size_t x = 0; x < msg->info.width; x++)
-         {
-             int i = yOffset + x;
-             if(msg->data[i] == -1 )
-                 map[i] = 0.5;
-             else
-                 map[i] = msg->data[i]/100.0;
-
-             if(map[i]!=0.5) {
-                 if(minX==INT_MIN || minX > (int)x)
-                     minX = (int)x;
-                 if(minY==INT_MIN || minY > (int)y)
-                     minY = (int)y;
-                 if(maxX==INT_MAX || maxX < (int)x)
-                     maxX = (int)x;
-                 if(maxY==INT_MAX || maxY < (int)y)
-                     maxY = (int)y;
-             }
-         }
-     }
-     Box2D<int> exploredRegion = Box2D<int> ( minX, minY, maxX, maxY );
-     OccupancyMap* occMap = new OccupancyMap(map, msg->info.origin, res, width, exploredRegion);
-     m_HyperSlamFilter->setOccupancyMap( occMap );
-     m_HyperSlamFilter->setMapping( false ); //is this already done by gui message?
-     ROS_INFO_STREAM( "Replacing occupancy map" );
-}
-
-void SlamNode::callbackMasking(const nav_msgs::OccupancyGrid::ConstPtr &msg)
-{
-    m_HyperSlamFilter->applyMasking(msg);
-}
-
-/**
- * @brief main function
- */
-int main(int argc, char** argv)
-{
-    ros::init(argc, argv, "homer_mapping");
-    ros::NodeHandle nh;
-
-    SlamNode slamNode(&nh);
-
-    ros::Rate loop_rate(50); 
-    ros::spin();
-    return 0;
-}
-
diff --git a/homer_nav_libs/CHANGELOG.rst b/homer_nav_libs/CHANGELOG.rst
deleted file mode 100644
index df486cd2..00000000
--- a/homer_nav_libs/CHANGELOG.rst
+++ /dev/null
@@ -1,9 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package homer_nav_libs
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-11-03)
-------------------
-* fixes
-* initial commit
-* Contributors: Niklas Yann Wettengel
diff --git a/homer_nav_libs/CMakeLists.txt b/homer_nav_libs/CMakeLists.txt
deleted file mode 100644
index c3682171..00000000
--- a/homer_nav_libs/CMakeLists.txt
+++ /dev/null
@@ -1,44 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(homer_nav_libs)
-
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  geometry_msgs
-  sensor_msgs
-  tf
-  cmake_modules
-)
-
-find_package(Eigen3 REQUIRED)
-
-catkin_package(
-	INCLUDE_DIRS include
-	LIBRARIES homerExplorer homerMappingMath
-	CATKIN_DEPENDS  roscpp geometry_msgs tf
-	DEPENDS Eigen3)
-
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
-)
-
-add_library(homerExplorer src/Explorer/Explorer.cpp)
-add_library(homerMappingMath
-	src/Math/Line2D.cpp
-	src/Math/Transformation2D.cpp
-	src/Math/Pose.cpp
-	src/Math/Math.cpp
-	src/Math/Point2D.cpp
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-
-install(TARGETS homerExplorer homerMappingMath
-	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
diff --git a/homer_nav_libs/README.md b/homer_nav_libs/README.md
deleted file mode 100644
index 4c31e40e..00000000
--- a/homer_nav_libs/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# nav_libs
-
-## Known Issues / Todo's 
-
-Im Package nav_libs ist eine Kopie der Robbie-Bibliothek Math, umbenannt in MappingMath, die nur von homer_mapping benutzt werden soll, solange es keine vernünftige Alternative für die Pose gibt.
-
-## Introduction 
-
-Das Package nav_libs enthält einige Bibliotheken, die vom Package homer_mapping und nav_libs verwendet werden. Außerdem enthält es im Ordner tools die Header-Datei tools.h, die Funktionen zum Transformieren in verschiedene Koordinatenframes enthält. All diese Funktionen befinden sich im namespace "map_tools".
-
-* Die Bibliothek `Explorer` wird von homer_mapping und homer_navigation verwendet und enthält die Pfadplanungsalgorithmen A-Stern sowie die dafür benötigte Datenstruktur der GridMap.
-* Die Bibliothek `SpeedControl` wird von homer_navigation verwendet und  ist dafür zuständig abhängig von den aktuellen Laserdaten die höchstzulässige Geschwindigkeit zu berechnen.
-* Die Bibliothek `MappingMath` wird von homer_mapping verwendet und enthält die Datenstruktur Pose, in der die aktuelle Roboterposition innerhalb der Node gespeichert wird.
diff --git a/homer_nav_libs/include/homer_nav_libs/Explorer/Explorer.h b/homer_nav_libs/include/homer_nav_libs/Explorer/Explorer.h
deleted file mode 100644
index 2d349912..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Explorer/Explorer.h
+++ /dev/null
@@ -1,359 +0,0 @@
-#ifndef EXPLORER_H
-#define EXPLORER_H
-
-#include <vector>
-#include <cmath>
-#include <iostream>
-#include <queue>
-#include <sstream>
-#include <geometry_msgs/Pose.h>
-
-#include <homer_nav_libs/Explorer/GridMap.h>
-#include <homer_nav_libs/tools.h>
-
-namespace ExplorerConstants
-{
-  static int8_t UNKNOWN;
-  static const int8_t NOT_SEEN_YET = -1;
-  static const double MAX_DISTANCE = DBL_MAX;
-  static const double MAX_COST = DBL_MAX;
-  static const int OBSTACLE = INT_MAX;
-}
-
-/**
- * @class  Explorer
- * @author Malte Knauf, Stephan Wirth, David Gossow (RX)
- * @brief  Path planning & exploration class
- *
- * Usage:
- *
- * - Call setOccupancyMap() to set the base map for path finding.
- * - Set a start point by calling setStart()
- *
- * - For path planning:
- *   +Choose a target by calling setTarget()
- *   +To correct a target to the nearest approachable position,
- *    call getNearestAccessibleTarget
- *   +Call getPathTransformPath()
- *
- *  -For exploration:
- *   +Call resetExploration()
- *   +Call getExplorationTransformPath()
- *   +The calculated target is the last element in the returned path
- *
- * - Call sampleWaypointsFromPath() to extract waypoints from a calculated path
- *
- * This class uses a couple of "maps" for computation and storing data:
- *
- * - m_OccupancyMap stores the occupancy probabilities in double values. A value of 100 means
- *       totally occupied, 0 totally free.
- * - m_ObstacleDistanceMap stores in each cell the distance (one unit = one cell) to the nearest obstacle.
- *       This map is computed by an eucledian distance transformation from m_OccupancyMap.
- * - m_FrontierMap is a bool map which has 1 in frontier cells and 0 in all others. A frontier
- *       is defined as a free cell that has one of its four direct neighbours in unknown space and is "safe" for
- *       the robot (m_ObstacleDistanceMap is used for that).
- * - m_DrivingDistanceMap is a double map that stores for each cell the distance to m_Start. It is computed
- *       by a flood-fill (seed-fill) algorithm. The values are therefor only an approximation and not exact.
- *       m_DrivingDistanceMap is used to search the nearest frontier when requesting an auto target.
- * - m_TargetMap is a double map that stores for each cell the distance to m_Target. It is computed
- *       like m_DrivingDistanceMap. This map is used as heuristic for the A*-Pathfinding algorithm.
- * - m_NavigationMap is used to mark the cells that are touched by the A*-Pathfinding algorithm.
- *
- *
- * The coordinate system and units that are used in this class are based on map cells.
- * @see GridMap
- *
- */
-class Explorer
-{
-
-  public:
-
-    /**
-     * @brief Default constructor.
-     * @param minAllowedObstacleDistance,maxAllowedObstacleDistance Range of allowed distances to next obstacle [Pixels]
-     * @param minSafeObstacleDistance,maxSafeObstacleDistance Range of distances to next obstacle considered as safe [Pixels]
-     * @param safePathWeight Weight for safer path
-     */
-    Explorer ( double minAllowedObstacleDistance, double maxAllowedObstacleDistance,
-               double minSafeObstacleDistance, double maxSafeObstacleDistance,
-               double safePathWeight, double frontierSafenessFactor=1.0, int unknownThreshold=50 );
-
-    /**
-     * @brief Destructor deletes all dynamically allocated memory used by the maps
-     */
-    ~Explorer();
-
-    void setUnknownThreshold(int unknownTresh);
-    void setAllowedObstacleDistance ( double min, double max );
-    void setSafeObstacleDistance ( double min, double max );
-    void setFrontierSafenessFactor ( double frontierSafenessFactor );
-    void setSafePathWeight ( double weight );
-    /**
-     * @brief Copies and sets the occupancy map.
-     * @param width Width of the map
-     * @param height Height of the map
-     * @param origin Real-world pose of the cell (0,0) in the map
-     * @param data GridMap-data (occupancy probabilities: 0 = free, 100 = occupied) of size width * height
-     */
-    void setOccupancyMap ( int width, int height, geometry_msgs::Pose origin, int8_t* mapData);
-
-    /** only update occupied areas in current occupancy map */
-    void updateObstacles ( int width, int height, geometry_msgs::Pose origin, int8_t* mapData );
-
-    /**
-     * @brief Sets the start position for the path finding algorithm.
-     * m_Start is set to the given value.
-     * If startPixel lies outside the map, m_Start remains untouched.
-     * @param startPixel Start position for path finding in pixel (map-) coordinates.
-     */
-    void setStart ( Eigen::Vector2i start );
-
-    /**
-     * @brief Resets the internal state of the exploration mode.
-     * Sets m_DesiredDistance to 0, such that getExplorationTransformPath() triggers
-     * a frontier exploration if there is no prior call of setTarget(point, distance).
-     * Call this method once before every exploration.
-     */
-    void resetExploration();
-
-    /**
-     * Sets the target position for path finding. m_Target is set to the given value.
-     * If endPixel lies outside of the map, m_Target remains untouched.
-     * computeTargetDistanceMap() is called at the end of this method. m
-     * @param targetPixel Target to reach from startPixel
-     */
-    void setTarget ( Eigen::Vector2i targetPixel );
-
-    /**
-     * Sets the target region for path finding. m_ExplorationMap is set to the given region.
-     * If targetPixel lies outside of the map, the exploration map is set empty.
-     * @param targetPixel Center of the target region to reach from startPixel
-     * @param radius Radius of the target region in pixels
-     */
-    void setTarget( Eigen::Vector2i targetPixel, int radius );
-
-    /**
-     * @brief find the nearest position to target that is approachble from the start position
-     */
-    Eigen::Vector2i getNearestAccessibleTarget ( Eigen::Vector2i target );
-
-    /**
-     * @brief find the nearest position to target surpassing the minimum obstacle distance
-     */
-    Eigen::Vector2i getNearestWalkablePoint ( Eigen::Vector2i target );
-
-    /**
-     * @brief Returns the map-coordinates of the nearest frontier to m_Start.
-     * Uses m_DrivingDistanceMap and m_ObstacleDistanceMap. If there is no frontier left,
-     * nextFrontier remains untouched.
-     * @param[out] nextFrontier Nearest frontier in map-coordinates.
-     * @return true if frontier found and stored in nextFrontier, false if no frontier found (nextFrontier
-     *         remains untouched).
-     */
-    bool getNearestFrontier ( Eigen::Vector2i& nextFrontier );
-
-    /**
-     * Computes the path from m_Start to m_Target with path transform.
-     * The result is returned. If the returned vector contains no elements, there is no path.
-     * @return vector with path points
-     */
-    std::vector<Eigen::Vector2i> getPath( bool &success );
-
-    /**
-     * Computes the path from m_Start to the next frontier using exploration transform.
-     * The result is returned. If the returned vector contains no elements, there is no path.
-     * @return vector with path points
-     */
-    std::vector<Eigen::Vector2i> getExplorationTransformPath( bool &success );
-
-    /**
-     * @brief Returns a version of the path that contains less vertices.
-     * @note  The nearer the next obstacle, the more waypoints are created.
-     * @param path List of vertices to be simplified
-     * @param treshold[0..1] a lower threshold results in more waypoints (default:1.0)
-     * @return Vector of (sampled) waypoints.
-     */
-    std::vector<Eigen::Vector2i> sampleWaypointsFromPath ( std::vector<Eigen::Vector2i> path, float threshold=1.0 );
-
-    /**
-     * Getters for the different transforms (see constructor for description)
-     */
-    GridMap<int8_t>* getOccupancyMap();
-    GridMap<double>* getObstacleTransform();
-    GridMap<double>* getCostTransform();
-    GridMap<bool>* getTargetMap();
-    GridMap<double>* getDrivingDistanceTransform();
-    GridMap<double>* getTargetDistanceTransform();
-    GridMap<double>* getPathTransform();
-    GridMap<double>* getExplorationTransform();
-
-    /**
-     * @return Start position
-     */
-    Eigen::Vector2i getStart() const;
-
-    /**
-     * @return Target position
-     */
-    Eigen::Vector2i getTarget() const;
-
-  private:
-
-    /** @brief Delete the given map and set pointer to 0 */
-    template <class T>
-    void releaseMap ( GridMap<T>*& map )
-    {
-      if ( map )
-      {
-        delete map;
-        map=0;
-      }
-    }
-
-    /** @brief Delete and re-create given map */
-    template <class T>
-    void resetMap ( GridMap<T>*& map )
-    {
-      if ( !m_OccupancyMap )
-      {
-        ROS_ERROR ( "Occupancy map is missing." );
-        return;
-      }
-      releaseMap ( map );
-      map = new GridMap<T> ( m_OccupancyMap->width(), m_OccupancyMap->height() );
-    }
-
-    /**
-     * @return true if the robot can stand on the given position without touching an obstacle, false otherwise
-     * @warning Call computeWalkableMaps before
-     */
-    inline bool isWalkable ( int x, int y ) const
-    {
-      return ( ( m_OccupancyMap->getValue ( x, y ) <= ExplorerConstants::UNKNOWN ) &&
-               ( m_ObstacleTransform->getValue ( x, y ) > m_MinAllowedObstacleDistance ) );
-    }
-
-    /**
-     * @return true if point is approachable from the current start position, false otherwise.
-     * @warning m_OccupancyMap, m_ObstacleTransform and m_DrivingDistanceTransform have to be present!
-     * @warning Call computeApproachableMaps before
-     */
-    inline bool isApproachable ( int x, int y ) const
-    {
-      return ( m_DrivingDistanceTransform->getValue ( x, y ) < ExplorerConstants::MAX_DISTANCE );
-    }
-
-    /** @brief Releases all memory of the member maps */
-    void releaseMaps();
-
-    /**
-      * @brief Helper function for computeDistanceTransformation.
-      * @param f 1D-Array for distance transformation
-      * @param n Number of elements in f
-      * @return Distance transformation of f
-      */
-    double* distanceTransform1D ( double *f, int n );
-
-    /**
-     * @brief Fills the given map from given start point with distance values to this point.
-     * The filling will only be performed on cells that are marked as free in m_OccupancyMap and
-     * that have an obstacle distance value between m_MinimumObstacleDistance and m_MaximumObstacleDistance.
-     * The map that is passed as argument will be fully overwritten by this function.
-     * @param map GridMap to fill
-     * @param start Start point for the fill algorithm
-     */
-    void distanceFloodFill ( GridMap<double>* map, Eigen::Vector2i start );
-
-    /** @brief Compute map needed for path calculation */
-    void computePathTransform();
-
-    /** @brief Compute map needed for exploration path calculation */
-    void computeExplorationTransform();
-
-    /** @brief Compute the distances to the next obstacle with eucledian distance transform from m_OccupancyMap. */
-    void computeObstacleTransform();
-
-    /** @brief Compute cost function based on obstacle transform */
-    void computeCostTransform();
-
-    /** @brief Compute the frontiers between free and unknown space. Depends on OccupancyMap and ObstacleTransform. */
-    void computeFrontierMap();
-
-    /** @brief Compute the target region (a circle of radius m_DesiredDistance around m_Target). */
-    void computeRegionMap();
-
-    /** @brief Compute the target map, which is either a frontier map or a region map. */
-    void computeTargetMap();
-
-    /** @brief Compute a map of driving distances from the start point */
-    void computeDrivingDistanceTransform();
-
-    /** @brief Compute a map of driving distances to the target point */
-    void computeTargetDistanceTransform();
-
-    /** @brief Compute maps needed for isWalkable */
-    void computeWalkableMaps();
-
-    /** @brief Compute maps needed for isApproachable */
-    void computeApproachableMaps();
-
-    /** @brief Start point for the way search algorithm. */
-    Eigen::Vector2i m_Start;
-
-    /** @brief Target for the way search algorithm */
-    Eigen::Vector2i m_Target;
-
-    /** @brief Desired distance to target in pixels */
-    int m_DesiredDistance;
-
-    /** @brief Occupancy map */
-    GridMap<int8_t>* m_OccupancyMap;
-
-    /** @see computeObstacleTransform */
-    GridMap<double>* m_ObstacleTransform;
-
-    /** @see computeCostTransform */
-    GridMap<double>* m_CostTransform;
-
-    /** @see computeTargetMap */
-    GridMap<bool>* m_TargetMap;
-
-    /** computeDrivingDistanceTransform */
-    GridMap<double>* m_DrivingDistanceTransform;
-
-    /** @see computeTargetDistanceTransform */
-    GridMap<double>* m_TargetDistanceTransform;
-
-    /** @see computePathTransform */
-    GridMap<double>* m_PathTransform;
-
-    /** @see computeExplorationTransform */
-    GridMap<double>* m_ExplorationTransform;
-
-    /** @see constructor */
-    double m_MinAllowedObstacleDistance;
-    double m_MaxAllowedObstacleDistance;
-
-    double m_MinSafeObstacleDistance;
-    double m_MaxSafeObstacleDistance;
-
-    /**
-     * Weight for safer path
-     */
-    double m_SafePathWeight;
-
-    /**
-     * Factor for minObstacleDistance that determines if a frontier pixel is valid
-     */
-    double m_FrontierSafenessFactor;
-
-    /**
-     * Real-world pose of the point (0,0) in the map
-     */
-    geometry_msgs::Pose m_Origin;
-
-};
-
-#endif
-
diff --git a/homer_nav_libs/include/homer_nav_libs/Explorer/GridMap.h b/homer_nav_libs/include/homer_nav_libs/Explorer/GridMap.h
deleted file mode 100644
index 64b3469e..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Explorer/GridMap.h
+++ /dev/null
@@ -1,575 +0,0 @@
-#ifndef   GridMap_H
-#define   GridMap_H
-
-#include <float.h>
-#include <iostream>
-#include <sstream>
-
-#include "ros/ros.h"
-
-#include <Eigen/Geometry>
-
-#define GRIDMAP_SAFE_ACCESS
-
-/**
- * @class  GridMap
- * @author Malte Knauf, Stephan Wirth, David Gossow (RX)
- * @brief  GridMap data structure. Implemeted as template class. The template type
- *         defines the data type of each map cell.
- */
-
-template<class DataT>
-class GridMap
-{
-
-	public:
-
-		/// Initialize empty map
-		GridMap();
-
-		/**
-		 * @param width Width of the map.
-		 * @param height Height of the map.
-		 * @param data Pointer to map data, must be of size width*height.
-		 * @param copyData if true, the map data will be copied
-		 *                 if false, GridMap takes ownership of the pointer
-         * @param cellSize physical size of each map cell [m]
-		 * @param centerX,centerY center of the map in world coordinates
-		 */
-		GridMap ( int width, int height, DataT* data = 0, bool copyData = true, float cellSize = 1, float centerX = 0, float centerY = 0 );
-
-		/// Copy data from given region
-        GridMap ( int width, int height, DataT* data, Eigen::AlignedBox2i extractRegion );
-
-		/// Copy data from given map
-		GridMap<DataT> ( const GridMap<DataT>& other ) { m_Data=0; *this = other; }
-
-		/// Copy data from given map
-		GridMap<DataT>& operator= ( const GridMap<DataT>& other );
-
-        ~GridMap();
-
-		/// Convert map coordinates to world coordinates
-		void mapToWorld ( int mapX, int mapY, float& worldX, float& worldY );
-
-		/// Convert world coordinates to map coordinates
-		void worldToMap ( float worldX, float worldY, int& mapX, int& mapY );
-
-		/// @brief set value at given position
-		inline void setValue ( int x, int y, DataT val );
-
-		/// @brief replace content with given value
-		void fill ( DataT val );
-		
-		/// @brief Draw a filled polygon into the map (world coords)
-        void drawPolygon ( std::vector<Eigen::Vector2d> vertices, DataT value );
-
-		/// @brief Draw a filled circle into the map (world coords)
-        void drawCircle( Eigen::Vector2d center, float radius, DataT value );
-
-		/// @return Value at the given position.
-		inline DataT getValue ( int x, int y ) const;
-
-		/// @return Pointer to given pixel
-        inline DataT* getDirectAccess ( int x, int y );
-
-		/// @return width in grid cells
-		int width() const { return m_Width; }
-
-		/// @return height in grid cells
-		int height() const { return m_Height; }
-
-  /// @return center of the map in world coordinates
-  Eigen::Vector2d center() const {return Eigen::Vector2d(m_CenterX,m_CenterY);}
-
-		/// @return side length of one cell in mm
-		float cellSize() { return m_CellSize; }
-
-	private:
-
-		void drawLine ( DataT *data, int startX, int startY, int endX, int endY, DataT value );
-		void fillPolygon ( DataT* data, int x, int y, char value );
-
-		int m_Width;
-		int m_Height;
-		int m_DataSize;
-		DataT* m_Data;
-		float m_CellSize;
-		float m_CenterX;
-		float m_CenterY;
-};
-
-
-template<class DataT>
-GridMap<DataT>::GridMap()
-{
-	m_Width = 0;
-	m_Height = 0;
-	m_DataSize = 0;
-	m_Data = 0;
-	m_CellSize = 0;
-	m_CenterX = 0;
-	m_CenterY = 0;
-}
-
-template<class DataT>
-GridMap<DataT>::GridMap ( int width, int height, DataT* data, bool copyData, float cellSize, float centerX, float centerY )
-{
-	m_Width = width;
-	m_Height = height;
-	m_CellSize = cellSize;
-	m_DataSize = width * height;
-	m_CenterX = centerX;
-	m_CenterY = centerY;
-	m_Data = 0;
-
-	if ( data )
-	{
-		if ( copyData )
-		{
-			m_Data = new DataT[m_DataSize];
-
-			for ( int i = 0; i < m_DataSize; i++ )
-			{
-				m_Data[i] = data[i];
-			}
-		}
-		else
-		{
-			m_Data = data;
-		}
-	}
-	else
-	{
-		m_Data = new DataT[m_DataSize];
-
-		for ( int i = 0; i < m_DataSize; i++ )
-		{
-			m_Data[i] = 0;
-		}
-	}
-}
-
-template<class DataT>
-GridMap<DataT>::GridMap (int width, int height, DataT* data, Eigen::AlignedBox2i extractRegion )
-{
-    m_Width = extractRegion.sizes().x();
-    m_Height = extractRegion.sizes().y();
-	m_DataSize = m_Width * m_Height;
-	m_Data = new DataT[m_DataSize];
-	m_CellSize = 1;
-	m_CenterX = 0;
-	m_CenterY = 0;
-
-    for ( int y = extractRegion.min().y(); y <= extractRegion.max().y(); y++ )
-	{
-        int yOffset = m_Width * y;
-
-        for ( int x = extractRegion.min().x(); x <= extractRegion.max().x(); x++ )
-		{
-            int i = x + yOffset;
-			m_Data[i] = data[i];
-		}
-	}
-}
-
-
-template<class DataT>
-inline DataT* GridMap<DataT>::getDirectAccess ( int x, int y )
-{
-#ifdef GRIDMAP_SAFE_ACCESS
-	if ( x >= 0 && x < m_Width && y >= 0 && y < m_Height )
-	{
-        return &m_Data[y * m_Width + x];
-	}
-	else
-	{
-		throw;
-	}
-#else
-    return &m_Data[y * m_Width + x];
-#endif
-}
-
-
-template<class DataT>
-GridMap<DataT>& GridMap<DataT>::operator= ( const GridMap<DataT>& other )
-{
-	delete[] m_Data;
-	m_Width = other.m_Width;
-	m_Height = other.m_Height;
-	m_DataSize = other.m_DataSize;
-	m_Data = new DataT[m_DataSize];
-	memcpy ( m_Data, other.m_Data, sizeof ( DataT ) *m_DataSize );
-	m_CellSize = other.m_CellSize;
-	m_CenterX = other.m_CenterX;
-	m_CenterY = other.m_CenterY;
-  return *this;
-}
-/* TODO
-template<class DataT>
-GridMap<DataT>::GridMap ( ExtendedInStream& strm )
-{
-	short version;
-	strm >> version;
-	strm >> m_Width;
-	strm >> m_Height;
-	strm >> m_CellSize;
-	strm >> m_CenterX;
-	strm >> m_CenterY;
-	m_DataSize = m_Width * m_Height;
-	m_Data = new DataT[m_DataSize];
-	strm.get ( m_Data, m_DataSize );
-}
-*/
-template<class DataT>
-GridMap<DataT>::~GridMap()
-{
-	if ( m_Data )
-	{
-		delete m_Data;
-		m_Data = 0;
-	}
-}
-/*
-template<class DataT>
-void GridMap<DataT>::storer ( ExtendedOutStream& strm ) const
-{
-	strm << short ( 12 );
-	strm << m_Width;
-	strm << m_Height;
-	strm << m_CellSize;
-	strm << m_CenterX;
-	strm << m_CenterY;
-	strm.put ( m_Data, m_DataSize );
-}
-*/
-
-template<class DataT>
-void GridMap<DataT>::mapToWorld ( int mapX, int mapY, float& worldX, float& worldY )
-{
-	worldX = m_CenterX + m_CellSize * ( mapX - m_Width / 2 );
-	worldY = m_CenterY + m_CellSize * ( mapY - m_Height / 2 );
-}
-
-template<class DataT>
-void GridMap<DataT>::worldToMap ( float worldX, float worldY, int& mapX, int& mapY )
-{
-	mapX = float ( m_Width ) / 2.0  - ( ( worldY - m_CenterY ) / m_CellSize + 0.5 );
-	mapY = float ( m_Height ) / 2.0 - ( ( worldX - m_CenterX ) / m_CellSize + 0.5 );
-
-	if ( mapX < 0 || mapX >= m_Width || mapY < 0 || mapY >= m_Height )
-	{
-                //ROS_WARN_STREAM ( "Index out of bounds: " << mapX << "," << mapY ); //TODO
-
-		if ( mapX < 0 )
-		{
-			mapX = 0;
-		}
-
-		if ( mapX >= m_Width )
-		{
-			mapX = m_Width - 1;
-		}
-
-		if ( mapY < 0 )
-		{
-			mapY = 0;
-		}
-
-		if ( mapY >= m_Height )
-		{
-			mapY = m_Height - 1;
-		}
-	}
-}
-
-
-template<class DataT>
-inline void GridMap<DataT>::setValue ( int x, int y, DataT val )
-{
-#ifdef GRIDMAP_SAFE_ACCESS
-	if ( x >= 0 && x < m_Width && y >= 0 && y < m_Height )
-	{
-        m_Data[y * m_Width + x] = val;
-	}
-	else
-	{
-		throw;
-	}
-#else
-    m_Data[y * m_Width + x] = val;
-#endif
-}
-
-template<class DataT>
-inline DataT GridMap<DataT>::getValue ( int x, int y ) const
-{
-#ifdef GRIDMAP_SAFE_ACCESS
-	if ( x >= 0 && x < m_Width && y >= 0 && y < m_Height )
-	{
-        return  m_Data[y * m_Width + x];
-	}
-	else
-	{
-                ROS_ERROR_STREAM( "Accessing map pixels " << x << "," << y << ": out of bounds (0,0," << m_Width-1 << "," << m_Height-1 << ")" ); //TODO
-		throw;
-	}
-#else
-    return  m_Data[y * m_Width + x];
-#endif
-}
-
-template<class DataT>
-void GridMap<DataT>::fill ( DataT val )
-{
-	for ( int i = 0; i < m_DataSize; i++ )
-	{
-		m_Data[i] = val;
-	}
-}
-
-/* TODO do we need image representation?
-template<class DataT>
-puma2::ColorImageRGB8* GridMap<DataT>::getImage ( DataT specialValue, DataT clipRangeLow, DataT clipRangeHigh )
-{
-	puma2::ColorImageRGB8* image = new puma2::ColorImageRGB8 ( m_Width, m_Height );
-	double maxVal = 0.0001;
-	double minVal = 0.0;
-
-	for ( int i = 0; i < m_DataSize; i++ )
-    {
-		if ( ( m_Data[i] < minVal ) && ( m_Data[i] != specialValue ) )
-		{
-			minVal = m_Data[i];
-		}
-
-		if ( ( m_Data[i] > maxVal ) && ( m_Data[i] != specialValue ) )
-		{
-			maxVal = m_Data[i];
-		}
-	}
-
-	std::ostringstream stream;
-
-	stream << " Min: " << minVal << "Max: " << maxVal;
-	stream << " ClipMin: " << double ( clipRangeLow ) << " ClipMax: " << double ( clipRangeHigh );
-        ROS_DEBUG_STREAM ( stream.str() ); //TODO: was TRACE_SYSTEMINFO
-
-	if ( maxVal > clipRangeHigh )
-	{
-		maxVal = clipRangeHigh;
-	}
-
-	if ( minVal < clipRangeLow )
-	{
-		minVal = clipRangeLow;
-	}
-
-	double range = maxVal - minVal;
-
-	puma2::ColorImageRGB8::PixelType* imageData;
-	imageData = image->unsafeRowPointerArray() [0];
-
-	for ( int i = 0; i < m_DataSize; i++ )
-	{
-		DataT currentValue = m_Data[i];
-
-		if ( currentValue == specialValue )
-		{
-			imageData[i][0] = 40;
-			imageData[i][1] = 220;
-			imageData[i][2] = 120;
-			continue;
-		}
-
-		if ( currentValue > clipRangeHigh )
-		{
-			imageData[i][0] = 200;
-			imageData[i][1] = 200;
-			imageData[i][2] = 128;
-			continue;
-		}
-
-		if ( currentValue < clipRangeLow )
-		{
-			imageData[i][0] = 40;
-			imageData[i][1] = 40;
-			imageData[i][2] = 180;
-			continue;
-		}
-
-		double valueDouble  = ( ( double ) ( currentValue - minVal ) ) / range;
-
-		unsigned char value = ( unsigned char ) ( valueDouble * 255 );
-
-		imageData[i][0] = value;
-		imageData[i][1] = value;
-		imageData[i][2] = value;
-	}
-
-	return image;
-}
-*/
-
-
-
-template<class DataT>
-void GridMap<DataT>::drawCircle(Eigen::Vector2d center, float radius, DataT value )
-{
-	int centerMapX,centerMapY;
-	worldToMap( center.x(), center.y(), centerMapX, centerMapY );
-	
-	int radiusCells = radius / m_CellSize;
-	int radiusCells2 = radiusCells*radiusCells;
-	
-    Eigen::AlignedBox2i bBox( Eigen::Vector2i(centerMapX - radiusCells, centerMapY - radiusCells), Eigen::Vector2i(centerMapX + radiusCells, centerMapY + radiusCells) );
-    Eigen::AlignedBox2i bBoxGrid( Eigen::Vector2i(0,0), Eigen::Vector2i(m_Width-1,m_Height-1) );
-    bBox.clamp( bBoxGrid );
-	
-    for ( int y = bBox.min().y(); y <= bBox.max().y(); y++ )
-	{
-        for ( int x = bBox.min().x(); x <= bBox.max().x(); x++ )
-		{
-			int xC = x-centerMapX;
-            int yC = y-centerMapY;
-			if ( xC*xC+yC*yC <= radiusCells2 )
-			{
-				setValue( x, y, value );
-			}
-		}
-	}
-}
-
-
-template<class DataT>
-void GridMap<DataT>::drawPolygon (std::vector<Eigen::Vector2d> vertices, DataT value )
-{
-  if ( vertices.size() == 0 )
-  {
-    ROS_INFO( "No vertices given!" );
-    return;
-  }
-	//make temp. map
-	DataT* data = new DataT[ m_DataSize ];
-	for ( int i = 0; i < m_DataSize; i++ )
-	{
-		data[i] = 0;
-	}
-	
-  //draw the lines surrounding the polygon
-  for ( unsigned int i = 0; i < vertices.size(); i++ )
-  {
-		int i2 = ( i+1 ) % vertices.size();
-		int startX,startY,endX,endY;
-		worldToMap( vertices[i].x(), vertices[i].y(), startX, startY );
-		worldToMap( vertices[i2].x(), vertices[i2].y(), endX, endY );
-    drawLine ( data, startX, startY, endX, endY, 1 );
-  }
-  //claculate a point in the middle of the polygon
-  float midX = 0;
-  float midY = 0;
-  for ( unsigned int i = 0; i < vertices.size(); i++ )
-  {
-    midX += vertices[i].x();
-    midY += vertices[i].y();
-  }
-  midX /= vertices.size();
-  midY /= vertices.size();
-	int midMapX,midMapY;
-	worldToMap( midX, midY, midMapX, midMapY );
-  //fill polygon
-  fillPolygon ( data, midMapX, midMapY, 1 );
-	
-	//copy polygon to map
-	for ( int i = 0; i < m_DataSize; i++ )
-	{
-		if ( data[i] != 0 )
-		{
-			m_Data[i] = value;
-		}
-	}
-	
-	delete[] data;
-}
-
-template<class DataT>
-void GridMap<DataT>::fillPolygon ( DataT* data, int x, int y, char value )
-{
-  int index = x + m_Width * y;
-  if ( value != data[index] )
-  {
-    data[index] = value;
-    fillPolygon ( data, x + 1, y, value );
-    fillPolygon ( data, x - 1, y, value );
-    fillPolygon ( data, x, y + 1, value );
-    fillPolygon ( data, x, y - 1, value );
-  }
-}
-
-
-template<class DataT>
-void GridMap<DataT>::drawLine ( DataT *data, int startX, int startY, int endX, int endY, DataT value )
-{
-  //bresenham algorithm
-  int x, y, t, dist, xerr, yerr, dx, dy, incx, incy;
-  // compute distances
-  dx = endX - startX;
-  dy = endY - startY;
-
-  // compute increment
-  if ( dx < 0 )
-  {
-    incx = -1;
-    dx = -dx;
-  }
-  else
-  {
-    incx = dx ? 1 : 0;
-  }
-
-  if ( dy < 0 )
-  {
-    incy = -1;
-    dy = -dy;
-  }
-  else
-  {
-    incy = dy ? 1 : 0;
-  }
-
-  // which distance is greater?
-  dist = ( dx > dy ) ? dx : dy;
-  // initializing
-  x = startX;
-  y = startY;
-  xerr = dx;
-  yerr = dy;
-
-  // compute cells
-  for ( t = 0; t < dist; t++ )
-  {
-    data[x + m_Width * y] = value;
-		
-    xerr += dx;
-    yerr += dy;
-    if ( xerr > dist )
-    {
-      xerr -= dist;
-      x += incx;
-    }
-    if ( yerr > dist )
-    {
-      yerr -= dist;
-      y += incy;
-    }
-  }
-}
-
-
-
-#endif
-
-#ifdef GRIDMAP_SAFE_ACCESS
-#undef GRIDMAP_SAFE_ACCESS
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/Box2D.h b/homer_nav_libs/include/homer_nav_libs/Math/Box2D.h
deleted file mode 100644
index fc6a5478..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/Box2D.h
+++ /dev/null
@@ -1,184 +0,0 @@
-/*******************************************************************************
- *  Box2D.h
- *
- *  (C) 2008 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- *  Additional information:
- *  $Id: Box2D.h 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#ifndef Box2D_H
-#define Box2D_H
-
-#include <homer_nav_libs/Math/Point2D.h>
-#include <vector>
-
-/**
- * @class  Box2D
- * @author David Gossow (RX)
- * @brief  Represents a box given by the upper-left and lower-right corner
- */
-template<class T=float>
-class Box2D
-{
-
-  public:
-
-    /** @brief Creates a box given by top-left (minX,minY) and lower-right (maxX,maxY) coordinates */
-    Box2D(T minX=0, T minY=0, T maxX=0, T maxY=0);
-
-    /** @brief The destructor */
-    ~Box2D() {};
-
-    inline void setMinX(T value) { m_MinX=value; }
-    inline void setMaxX(T value) { m_MaxX=value; }
-    inline void setMinY(T value) { m_MinY=value; }
-    inline void setMaxY(T value) { m_MaxY=value; }
-
-    inline T minX() const { return m_MinX; }
-    inline T maxX() const { return m_MaxX; }
-    inline T minY() const { return m_MinY; }
-    inline T maxY() const { return m_MaxY; }
-
-    inline T width() const { return m_MaxX-m_MinX; }
-    inline T height() const { return m_MaxY-m_MinY; }
-
-    std::vector< Point2D > vertices();
-
-    /** @brief Clip the box to fit into clipArea */
-    void clip( Box2D<T> clipArea );
-
-    /** @return true if the given point is inside the box */
-    bool contains( T x, T y );
-
-    /** @brief enlarge the box by 'size' units in all directions */
-    void expand( T size );
-
-    /** @brief shrink the box by 'size' units in all directions */
-    void shrink( T size );
-
-    /** @brief expand the box so that it contains the given point */
-    void enclose( Point2D point );
-    void enclose( T x, T y );
-
-    template<class OtherT>
-    void enclose( Box2D<OtherT> box );
-
-    Point2D centerPoint()
-    {
-        Point2D center;
-        center.setX(m_MinX + ( (m_MaxX - m_MinX) / 2 ) );
-        center.setY(m_MinY + ( (m_MaxY - m_MinY) / 2 ) );
-        return center;
-    }
-
-    /** @brief area covered by the box */
-    T area();
-
-    Box2D<T>& operator/= ( T div ) { m_MinX/=div; m_MinY/=div; m_MaxX/=div; m_MaxY/=div; return *this; }
-    Box2D<T>& operator*= ( T div ) { m_MinX*=div; m_MinY*=div; m_MaxX*=div; m_MaxY*=div; return *this; }
-
-  private:
-
-    T m_MinX;
-    T m_MaxX;
-    T m_MinY;
-    T m_MaxY;
-
-};
-
-template<class T>
-Box2D<T>::Box2D(T minX, T minY, T maxX, T maxY)
-{
-  m_MinX=minX;
-  m_MinY=minY;
-  m_MaxX=maxX;
-  m_MaxY=maxY;
-}
-
-template<class T>
-void Box2D<T>::clip( Box2D<T> clipArea )
-{
-  if (m_MinX < clipArea.minX()) { m_MinX=clipArea.minX(); }
-  if (m_MinY < clipArea.minY()) { m_MinY=clipArea.minY(); }
-  if (m_MaxX > clipArea.maxX()) { m_MaxX=clipArea.maxX(); }
-  if (m_MaxY > clipArea.maxY()) { m_MaxY=clipArea.maxY(); }
-}
-
-template<class T>
-bool Box2D<T>::contains( T x, T y )
-{
-  return ( (x>=m_MinX) && (x<=m_MaxX) && (y>=m_MinY) && (y<=m_MaxY) );
-}
-
-template<class T>
-    void Box2D<T>::expand( T size )
-{
-  m_MinX-=size;
-  m_MaxX+=size;
-  m_MinY-=size;
-  m_MaxY+=size;
-}
-
-template<class T>
-void Box2D<T>::shrink( T size )
-{
-  m_MinX+=size;
-  m_MaxX-=size;
-  m_MinY+=size;
-  m_MaxY-=size;
-}
-
-template<class T>
-T Box2D<T>::area()
-{
-  T width = m_MaxX - m_MinX;
-  T height = m_MaxY - m_MinY;
-
-  T capacity = width * height;
-
-  return (T) capacity;
-}
-
-template<class T>
-void Box2D<T>::enclose( Point2D point )
-{
-  if ( m_MinX > point.x() ) { m_MinX=point.x(); }
-  if ( m_MinY > point.y() ) { m_MinY=point.y(); }
-  if ( m_MaxX < point.x() ) { m_MaxX=point.x(); }
-  if ( m_MaxY < point.y() ) { m_MaxY=point.y(); }
-}
-
-template<class T>
-void Box2D<T>::enclose( T x, T y )
-{
-  if ( m_MinX > x ) { m_MinX=x; }
-  if ( m_MinY > y ) { m_MinY=y; }
-  if ( m_MaxX < x ) { m_MaxX=x; }
-  if ( m_MaxY < y ) { m_MaxY=y; }
-}
-
-template<class T>
-template<class OtherT>
-void Box2D<T>::enclose( Box2D<OtherT> box )
-{
-  enclose( box.minX(), box.minY() );
-  enclose( box.maxX(), box.maxY() );
-}
-
-
-template<class T>
-std::vector< Point2D > Box2D<T>::vertices()
-{
-  std::vector<Point2D> myVertices(5);
-  myVertices[0]=Point2D( m_MinX-0.5, m_MinY-0.5 );
-  myVertices[1]=Point2D( m_MinX-0.5, m_MaxY+0.5 );
-  myVertices[2]=Point2D( m_MaxX+0.5, m_MaxY+0.5 );
-  myVertices[3]=Point2D( m_MaxX+0.5, m_MinY-0.5 );
-  myVertices[4]=myVertices[0];
-  return myVertices;
-}
-
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/Line2D.h b/homer_nav_libs/include/homer_nav_libs/Math/Line2D.h
deleted file mode 100644
index 9761be66..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/Line2D.h
+++ /dev/null
@@ -1,223 +0,0 @@
-/*******************************************************************************
- *  Line2D.h
- *
- *  (C) 2008 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- *  Information on Code Review state:
- *  Author: SM; DevelTest: Date; Reviewer: Initials; Review: Date; State: NOK
- *
- *  Additional information:
- *  $Id: Line2D.h 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#ifndef LINE2D_H
-#define LINE2D_H
-
-#include <homer_nav_libs/Math/vec2.h>
-#include <homer_nav_libs/Math/mat2.h>
-#include <homer_nav_libs/Math/Point2D.h>
-#include <vector>
-
-/**
- * @class Line2D
- *
- * @author Susanne Maur
- *
- */
-class Line2D
-{
-
-  public:
-
-    /**
-     * Creates a new line.
-     * @param start Start point of the line.
-     * @param end End point of the line.
-     */
-    inline Line2D ( Point2D start, Point2D end )
-    {
-      m_Start = start;
-      m_Vec = end-m_Start;
-    }
-
-
-    /**
-      * Creates a new line.
-      * @param start Start point of the line.
-      * @param vec The vector from start to end point of the line.
-      */
-    inline Line2D ( Point2D start,  CVec2 vec )
-    {
-      m_Start = start;
-      m_Vec = vec;
-    }
-
-    /**
-     * Destructor does nothing.
-     */
-    inline ~Line2D() {}
-
-    /**
-     * Sets the start point of the line to a new value.
-     * @param start Start point of the line.
-     */
-    inline void setStart ( const Point2D start )
-    {
-      Point2D end = m_Start + m_Vec;
-      m_Start = start;
-      m_Vec = end-m_Start;
-    }
-
-    /**
-     * Sets the end point of the line to a new value.
-     * @param end End point of the line.
-     */
-
-    inline void setEnd ( const Point2D end )
-    {
-      m_Vec = end - m_Start;
-    }
-
-    /**
-     * Returns the start point of the line.
-     * @return Start point of the line.
-     */
-    inline Point2D start() const
-    {
-      return m_Start;
-    }
-
-    /**
-     * Returns the end point of the line.
-     * @return End point of the line.
-     */
-    inline Point2D end() const
-    {
-      return m_Start + m_Vec;
-    }
-
-    /**
-     * Returns a vector from the start to the end of the line.
-     * @return Vector to the end point of the line.
-     */
-    inline CVec2 vec() const
-    {
-      return m_Vec;
-    }
-
-    inline bool operator== ( const Line2D& line ) const
-    {
-      return ( m_Start == line.start() && end() == line.end() );
-    }
-
-    /**
-     * Returns the gradient of the line.
-     * @return Gradient of the line.
-     */
-    float gradient() const ;
-
-    /**
-    * Returns the length of the line.
-    * @return Length of the line.
-     */
-    inline float length() const {
-      return m_Vec.magnitude();
-    }
-
-    /**
-     * Returns the minimum  euclidean distance of the given point to the line.
-     * @param point Point of which the distance to the line will be calculated.
-     * @return Distance of point to line.
-     */
-    inline float distance ( Point2D point ) const
-    {
-      Point2D pointOnLine = getRootPoint ( point );
-      return ( point - pointOnLine ).magnitude();
-    }
-
-    /**
-     * Rotates the line round the origin.
-     * @param angle The angle of rotation in radiants.
-     */
-    inline void rotate ( float angle )
-    {
-      CMat2 rotMat = CMat2 ( angle );
-      m_Start = rotMat * m_Start;
-      m_Vec = rotMat * m_Vec;
-    }
-
-    /**
-     * Returns the point of the line with the minimal distance to a given point.
-     * This algorithm may return a point which lies on the extension of the line and not on itself.
-     * See also: getClosestPoint.
-     * @param point Point to which the distance is calculated.
-     * @return Root point of the line.
-     */
-    inline Point2D getRootPoint ( Point2D point ) const
-    {
-      float t = ( point-m_Start ) * m_Vec;
-      t /= m_Vec * m_Vec;
-      Point2D pointOnLine = m_Start + ( t * m_Vec );
-      return pointOnLine;
-    }
-
-    /**
-     * Returns the normal of the line.
-     * @return Normal of the line.
-     */
-    inline CVec2 getNormal() const {
-      return m_Vec.getNormal()/m_Vec.magnitude();
-    }
-
-    /**
-    * Returns the point of the line with the minimal distance to a given point.
-    * This algorithm returns always a point which lies on the line.
-    * Therefor it is not always the root point.
-    * See also: getRootPoint.
-    * @param point Point to which the distance is calculated.
-    * @return Root point of the line.
-     */
-    Point2D getClosestPoint ( Point2D point ) const;
-
-    /**
-    * Returns the intersection point of this line with a second line.
-    * The intersection point is element of this line.
-    * @param line The line with which the intersection is calculated.
-    * @return Intersection point.
-     */
-    Point2D getIntersectionPoint ( Line2D line ) const;
-
-    /**
-     * Returns the parameter t which identifies the intersection point of this line with a second line.
-     * The intersection point is element of this line.
-     * @param line The line with which the intersection is calculated.
-     * @return Parameter t which identifies the intersection point on the line.
-     */
-    float getIntersectionPointParameter ( Line2D line ) const;
-
-    /**
-     * @return Vertices, e.g. for use in a VectorObject
-     * @param  substeps number of linear interpolation steps between start and end
-     */
-    std::vector< Point2D > vertices ( unsigned substeps=0 );
-
-    /**
-     * @overwrite
-     */
-    std::string toString() const;
-
-  private:
-
-    /**
-     * Start point of the line.
-     */
-    Point2D m_Start;
-
-    /**
-     * Vector from the start to the end of the line.
-     */
-    CVec2 m_Vec;
-};
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/Math.h b/homer_nav_libs/include/homer_nav_libs/Math/Math.h
deleted file mode 100644
index d1ce8e65..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/Math.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*******************************************************************************
- *  Math.h
- *
- *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- *  Additional information:
- *  $Id: $
- *******************************************************************************/
-
-#ifndef Math_H
-#define Math_H
-
-#include <vector>
-#include <homer_nav_libs/Math/Point2D.h>
-
-/**
- * @class  Math
- * @brief  Generic math and statistics functions
- * @author David Gossow (RX)
- */
-class Math
-{
-  public:
-
-    struct WeightedValue
-    {
-      float value;
-      float weight;
-    };
-
-    static const double Pi = 3.14159265358979323846;
-
-    /** @return mean value */
-    template<class ContainerT>
-    static double mean ( const ContainerT& values );
-
-    /** @return variance of given values */
-    template<class ContainerT>
-    static double variance ( const ContainerT& values );
-
-    /** @return mean angle of given values
-     *  @note   there are always two possible choices for the mean angle. This function returns the one with the smallest deviation
-     *  @note   Works for angles in [-Pi..Pi], negative angles are treated
-     */
-    static float meanAngle ( const std::vector<float>& angles );
-
-    static float meanAngleWeighted ( const std::vector< WeightedValue >& weightedAngles );
-
-    /** @return variance for given mean */
-    static float angleVariance ( float meanAngle, const std::vector<float>& angles );
-
-    /** @return minimal angle needed to turn from angle 1 to angle 2 [-Pi..Pi] */
-    static float minTurnAngle ( float angle1, float angle2 );
-
-    static Point2D center ( std::vector<Point2D>& points );
-
-    static float deg2Rad ( float deg ) { return deg / 180.0*Pi; }
-
-    static float rad2Deg ( float rad ) { return rad / Pi*180.0; }
-
-    static double randomGauss ( float variance = 1.0 );
-
-    static double random01 ( unsigned long init = 0 );
-
-    /** @return ratio between one dimension seen under old viewangle and dimension under new viewangle*/
-    static double angleToPercent ( double newAngle, double oldAngle ) { return tan ( ( Pi / 180.0 ) * newAngle / 2 ) / tan ( ( Pi / 180.0 ) * oldAngle / 2 ); };
-
-    /** @return angle under which the ratio between dimension seen under old viewangle and new viewangle equals percent*/
-    static double percentToAngle ( double percent, double angle ) { return 2* atan ( tan ( ( Pi / 180.0 ) * angle / 2 ) * percent ) * ( 180 / Pi ); };
-
-    /** @return horizontal view angle corresponding to diagonal view angle and aspect ratio (e.g. 4.0/3.0)*/
-    static double horizontalViewAngle ( double diagonalAngle, double aspectRatio ) { return verticalViewAngle ( diagonalAngle, 1.0 / aspectRatio ); };
-
-    /** @return vertical view angle corresponding to diagonal view angle and aspect ratio (e.g. 4.0/3.0)*/
-    static double verticalViewAngle ( double diagonalAngle, double aspectRatio )
-    {
-      return percentToAngle ( 1.0 / sqrt ( pow ( aspectRatio, 2 ) + 1.0 ), diagonalAngle );
-    };
-
-    template<class ValueT>
-    static inline ValueT min ( ValueT a, ValueT b ) { return a < b ? a : b; }
-
-    template<class ValueT>
-    static inline ValueT max ( ValueT a, ValueT b ) { return a > b ? a : b; }
-
-  private:
-
-    /** @brief The constructor */
-    Math();
-
-    /** @brief The destructor */
-    ~Math();
-
-};
-
-template<class ContainerT>
-double Math::mean ( const ContainerT& values )
-{
-  typename ContainerT::const_iterator it;
-  it = values.begin();
-  double sum = 0;
-  while ( it != values.end() )
-  {
-    sum += *it;
-    it++;
-  }
-  return sum / double ( values.size() );
-}
-
-
-template<class ContainerT>
-double Math::variance ( const ContainerT& values )
-{
-  double mean = mean ( values );
-  typename ContainerT::const_iterator it;
-  it = values.begin();
-  double sum = 0;
-  while ( it != values.end() )
-  {
-    double diff = *it - mean;
-    sum += diff * diff;
-    it++;
-  }
-  return sum / double ( values.size() );
-}
-
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/Pixel.h b/homer_nav_libs/include/homer_nav_libs/Math/Pixel.h
deleted file mode 100644
index cc58f229..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/Pixel.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*******************************************************************************
- *  Pixel.h
- *
- *  (C) 2006 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * $Id: Pixel.h 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#ifndef PIXEL_H
-#define PIXEL_H
-
-#include <homer_nav_libs/Math/Point2D.h>
-#include <vector>
-
-/** @class Pixel
-  * @brief Stores discrete pixel coordinates
-  * @author Stephan Wirth, David Gossow (RX)
-  */
-class Pixel {
-
-  public:
-
-    inline Pixel( int x = 0, int y = 0) { m_X = x; m_Y = y; };
-    inline ~Pixel() {};
-
-    inline int x() const { return m_X; }
-    inline int y() const { return m_Y; }
-
-    inline void setX( int x ) { m_X = x; }
-    inline void setY( int y ) { m_Y = y; }
-
-    inline bool operator ==( Pixel& rhs ) { return ( m_X == rhs.m_X ) && ( m_Y == rhs.m_Y ); }
-    inline bool operator !=( Pixel& rhs ) { return ( m_X != rhs.m_X ) || ( m_Y != rhs.m_Y ); }
-    inline Pixel operator *( float rhs ) { return Pixel( m_X * rhs, m_Y * rhs ); }
-    inline Pixel operator /( float rhs ) { return Pixel( m_X / rhs, m_Y / rhs ); }
-
-    inline Point2D toPoint2D() { return Point2D( m_X, m_Y ); }
-    
-    inline std::vector<Point2D> vertices()
-    {
-      std::vector<Point2D> result(5);
-      result[0]=Point2D( m_X-0.5, m_Y-0.5 );
-      result[1]=Point2D( m_X+0.5, m_Y-0.5 );
-      result[2]=Point2D( m_X+0.5, m_Y+0.5 );
-      result[3]=Point2D( m_X-0.5, m_Y+0.5 );
-      result[4]=result[0];
-      return result;
-    }
-
-  private:
-
-    int m_X;
-    int m_Y;
-
-};
-
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/Point2D.h b/homer_nav_libs/include/homer_nav_libs/Math/Point2D.h
deleted file mode 100644
index fdbf6fd0..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/Point2D.h
+++ /dev/null
@@ -1,312 +0,0 @@
-/*******************************************************************************
- *  Point2D.h
- *
- *  (C) 2008 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * $Id: Point2D.h 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#include <iostream>
-#include <sstream>
-
-#include <homer_nav_libs/Math/vec2.h>
-#include <float.h>
-
-#ifndef POINT2D_H
-#define POINT2D_H
-
-/**
- * @class Point2D
- *
- * @author Susanne Maur
- *
- */
-class Point2D
-{
-
-  public:
-
-    /**
-     * Creates a new point in 2D with x- and y-coordinat set to zero.
-     */
-    inline Point2D()
-    {
-      m_X = 0.0;
-      m_Y = 0.0;
-    }
-
-    /**
-    * Creates a new point in 2D.
-    * @param x x-coordinate of the point.
-    * @param y y-coordinate of the point.
-     */
-    inline Point2D ( double x, double y )
-    {
-      m_X = x;
-      m_Y = y;
-    }
-
-
-
-    /**
-     * Copy construcor
-     */
-    inline Point2D (const Point2D& p){
-      m_X = p.x();
-      m_Y = p.y();
-    }
-    
-    /**
-    * Creates a new point in 2D.
-    * @param v Vector form origin to the point.
-     */
-    inline Point2D ( const CVec2& v )
-    {
-      m_X = v[0];
-      m_Y = v[1];
-    }
-
-    /**
-    * Destructor, does nothing.
-     */
-    inline ~Point2D()
-    {
-    }
-
-    /**
-    * Returns the x-coordinate of the point.
-    * @return the x-coordinate of the point.
-     */
-    inline double x() const
-    {
-      return m_X;
-    }
-
-    /**
-    * Returns the y-coordinate of the point.
-    * @return the y-coordinate of the point.
-     */
-    inline double y() const
-    {
-      return m_Y;
-    }
-
-    /**
-    * Sets the x- and y-coordinate of the point to new values.
-    * @param x the new value of the x coordinate.
-    * @param y the new value of the x coordinate.
-     */
-    inline void set ( double x, double y )
-    {
-      m_X = x;
-      m_Y = y;
-    }
-
-    /**
-    * Sets the x-coordinate of the point to a new value.
-    * @param x the new value of the x coordinate.
-     */
-    inline void setX ( double x )
-    {
-      m_X = x;
-    }
-
-    /**
-    * Sets the y-coordinate of the point to a new value.
-    * @param y the new value of the x coordinate.
-     */
-    inline void setY ( double y )
-    {
-      m_Y = y;
-    }
-
-    /**
-     * Overloaded operators.
-     */
-
-    inline Point2D& operator= ( const Point2D& p) {
-      m_X = p.x();
-      m_Y = p.y(); 
-      return *this;
-    }
-
-    inline Point2D operator+ ( const CVec2& v ) const
-    {
-      return Point2D ( m_X + v[0], m_Y + v[1] );
-    }
-
-    inline Point2D operator+ ( const Point2D& p ) const
-    {
-      return Point2D ( m_X + p.x(), m_Y + p.y() );
-    }
-
-    inline CVec2 operator- ( const Point2D& p ) const
-    {
-      return CVec2 ( m_X - p.x(), m_Y - p.y() );
-    }
-
-    inline Point2D operator- ( const CVec2& v ) const
-    {
-      return Point2D ( m_X - v[0], m_Y - v[1] );
-    }
-
-    inline Point2D operator* ( double scalar ) const
-    {
-      return Point2D ( m_X * scalar, m_Y * scalar );
-    }
-
-    inline Point2D operator/ ( double scalar ) const
-    {
-      return Point2D ( m_X / scalar, m_Y / scalar );
-    }
-
-    inline Point2D& operator+= ( const CVec2& v )
-    {
-      m_X += v[0];
-      m_Y += v[1];
-      return ( *this );
-    }
-
-    inline Point2D& operator-= ( const CVec2& v )
-    {
-      m_X -= v[0];
-      m_Y -= v[1];
-      return ( *this );
-    }
-
-    inline Point2D& operator*= ( double scalar )
-    {
-      m_X *= scalar;
-      m_Y *= scalar;
-      return ( *this );
-    }
-
-    inline Point2D& operator/= ( double scalar )
-    {
-      m_X /= scalar;
-      m_Y /= scalar;
-      return ( *this );
-    }
-
-    inline double operator [] ( unsigned int i ) const
-    {
-      return ( ( double* ) this ) [i];
-    }
-
-    inline double& operator [] ( unsigned int i )
-    {
-      return ( ( double* ) this ) [i];
-    }
-
-    inline bool operator== ( const Point2D& point ) const
-    {
-      return ( fabs(m_X - point.x()) < 0.001 && fabs(m_Y - point.y()) < 0.001 );
-    }
-
-    inline bool operator!= ( const Point2D& point ) const
-    {
-      return !((*this)== point);
-    }
-
-    /**
-    * Returns the distance to a given point.
-    * @param point The point to calculate the distance to.
-    * @return the distance between point the two points.
-     */
-    inline double distance ( const Point2D& point ) const
-    {
-      return sqrt ( ( m_X-point.x() ) * ( m_X-point.x() ) + ( m_Y-point.y() ) * ( m_Y-point.y() ) );
-    }
-
-    /**
-    * Returns the distance to origin.
-    * @return the distance between point the two points.
-     */
-    inline double distance ( ) const
-    {
-      return sqrt ( m_X * m_X + m_Y * m_Y );
-    }
-
-    /**
-    * Checks whether two points are equal.
-    * @param p The point to check equality.
-    * @return true if points are equal, false otherwise.
-     */
-    inline bool equal ( const Point2D& point ) const
-    {
-      if ( ( *this - point ).magnitude() < 0.0001 )
-      {
-        return true;
-      }
-      else
-      {
-        return false;
-      }
-    }
-
-    /**
-    * Returns the vector which represents the point in 2D.
-    * @return vector which represents the point in 2D.
-     */
-    inline CVec2 toVector() const
-    {
-      return CVec2 ( m_X, m_Y );
-    }
-
-        /**
-     * Returns the angle of the corresponding polar coordinates.
-     * @return polar angle.
-         */
-    float getPolarAngle () const;
-
-    /**
-    * Rotate by angle (in radiants) around center.
-    * @param center Center of rotation
-    * @param angle Angle in radiants
-     */
-    inline void rotate ( const Point2D& center, float angle )
-    {
-      double x0=m_X-center.m_X;
-      double y0=m_Y-center.m_Y;
-      double xRot =  x0*cos ( angle ) - y0*sin ( angle );
-      double yRot =  x0*sin ( angle ) + y0*cos ( angle );
-      m_X = xRot+center.m_X;
-      m_Y = yRot+center.m_Y;
-    }
-
-    /**
-     * Rotate by angle (in radiants) around (0,0).
-     * @param angle Angle in radiants
-     */
-    inline void rotate ( float angle )
-    {
-      double xRot =  m_X*cos ( angle ) - m_Y*sin ( angle );
-      double yRot =  m_X*sin ( angle ) + m_Y*cos ( angle );
-      m_X = xRot;
-      m_Y = yRot;
-    }
-
-    /**
-    * Returns the string representation of the point.
-    * @return string representation of the point.
-     */
-    inline std::string toString() const
-    {
-      std::ostringstream str;
-      str << m_X << " " << m_Y;
-      return str.str();
-    }
-
-    /** @return "invalid" Point (used as end marker in vector drawings) **/
-    static Point2D invalidPoint() { return Point2D( DBL_MAX, DBL_MAX  ); }
-
-    bool isValid() { return ( ( m_X != DBL_MAX ) || ( m_Y != DBL_MAX ) ); }
-
-  protected:
-
-    double m_X;
-    double m_Y;
-};
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/Pose.h b/homer_nav_libs/include/homer_nav_libs/Math/Pose.h
deleted file mode 100644
index a4b47b9a..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/Pose.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/*******************************************************************************
- *  Pose.h
- *
- *  (C) 2006 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * $Id: Pose.h 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#ifndef POSE_H
-#define POSE_H
-
-#include <homer_nav_libs/Math/Point2D.h>
-
-class Transformation2D;
-
-/**
- * @class Pose
- *
- * @author Stephan Wirth, Susanne Maur (RX), David Gossow (RX)
- * @brief Class to describe and hold a pose of the robot (x, y)-Position + Orientation
- *        in world-coordinates
- */
-class Pose : public Point2D {
-
-public:
-
-    /**
-     * Constructor which initializes the members with the given values.
-     * @param x x-position
-     * @param y y-position
-     * @param theta orientation in radiants
-     */
-    Pose(float x, float y, float theta);
-
-    /**
-     * Default constructor, initializes members to 0.
-     */
-    Pose();
-
-    /**
-    * The destructor is empty.
-    */
-    ~Pose();
-
-    float theta() const;
-
-    void setTheta(float theta);
-
-    Pose operator+ ( const Transformation2D& transformation ) const;
-    Pose operator- ( const Transformation2D& transformation ) const;
-    Transformation2D operator- ( const Pose& pose ) const;
-
-    /**
-     * Interpolates between two poses and returns a pose which correlates with
-     * current pose +  t * (reference pose - current pose)
-     * @param referencePose The second pose to interpolate between.
-     * @param t The factor of interpolation.
-     * @return Interpolated pose
-     */
-    Pose interpolate(const Pose& referencePose, float t) const;
-
-//    Pose( ExtendedInStream& extStrm );
-
-//    void storer( ExtendedOutStream& extStrm ) const;
-
-protected:
-
-    float m_Theta;
-};
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/Transformation2D.h b/homer_nav_libs/include/homer_nav_libs/Math/Transformation2D.h
deleted file mode 100644
index a2ba0d67..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/Transformation2D.h
+++ /dev/null
@@ -1,143 +0,0 @@
-/*******************************************************************************
- *  Transformation2D.h
- *
- *  (C) 2008 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * $Id: Transformation2D.h 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#ifndef TRANSFORMATION2D_H
-#define TRANSFORMATION2D_H
-
-#include <cmath>
-#include <vector>
-#include <homer_nav_libs/Math/Point2D.h>
-#include <homer_nav_libs/Math/Line2D.h>
-
-
-/**
- * @class Transformation2D
- *
- * @author Susanne Maur
- *
- * @brief Class to describe a transformation of poses in 2D.
- * This inplies a translation in x and y direction each and a rotation.
- */
-class Transformation2D : public CVec2
-{
-
-  public:
-
-    /**
-     * Constructor that initializes the members.
-     * @param x translation in x direction in m
-     * @param y translation in y direction in m
-     * @param theta rotation in radiants
-     */
-    Transformation2D ( double x, double y, double theta );
-
-    /**
-     * Constructor that initializes the members.
-     * @param vec a vector which represents the translation in x and y direction
-     * @param theta rotation in radiants
-     */
-    Transformation2D ( const CVec2& vec, double theta );
-
-    /**
-     * Default constructor sets all members to 0.0.
-     */
-    Transformation2D();
-
-    /**
-     * Default destructor.
-     */
-    ~Transformation2D();
-
-    /**
-     * Sets the values of transformation.
-     * @param x translation in x direction in mm
-     * @param y translation in y direction in mm
-     * @param theta rotation in radiants
-     */
-    void set ( double x, double y, double theta );
-
-    /**
-     * Returns the rotation in radiants.
-     * @return rotation in radiants
-     */
-    double theta() const;
-
-    /**
-     * Adds two transformations.
-     */
-    Transformation2D operator+ ( Transformation2D t ) const;
-    Transformation2D& operator+= ( Transformation2D t );
-
-    /**
-     * Subtracts two transformations.
-     */
-    Transformation2D operator- ( Transformation2D t ) const;
-    Transformation2D& operator-= ( Transformation2D t );
-
-    /**
-     * Scales a transformation by a factor
-     */
-    Transformation2D operator* ( float factor ) const;
-    Transformation2D& operator*= ( float factor );
-
-    /**
-     * Scales a transformation by a factor
-     */
-    Transformation2D operator/ ( float factor ) const;
-    Transformation2D& operator/= ( float factor );
-
-    /**
-     * Test equality of transformations.
-     */
-    bool operator== ( Transformation2D t ) const;
-    bool operator!= ( Transformation2D t ) const;
-
-    /**
-     * Compare transformations.
-     * (attention: algebraic signs are taken into account, if necessary use fabs())
-     */
-    bool operator<= ( Transformation2D t ) const;
-    bool operator>= ( Transformation2D t ) const;
-    bool operator< ( Transformation2D t ) const;
-    bool operator> ( Transformation2D t ) const;
-
-    /**
-     * Applies abs() on every attribute.
-     */
-    Transformation2D abs() const;
-
-    /**
-     * Inverts the transformation, scales every attribute with -1.
-     */
-    Transformation2D inverse() const;
-
-    /**
-     * Transformes points by first rotation, then translating.
-     */
-    Point2D transform ( const Point2D& point ) const;
-    std::vector<Point2D> transform ( const std::vector<Point2D>& points ) const;
-
-    /**
-     * Transformes lines by first rotation, then translating.
-     */
-    Line2D transform ( const Line2D& line ) const;
-    std::vector<Line2D> transform ( const std::vector<Line2D>& lines ) const;
-
-    /**
-     * Returns the string representation of the transformation.
-     * @return string representation of the transformation.
-     */
-    std::string toString() const;
-
-  private:
-    double m_Theta;
-};
-
-#endif
-
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/mat2.h b/homer_nav_libs/include/homer_nav_libs/Math/mat2.h
deleted file mode 100644
index 45365d81..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/mat2.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*******************************************************************************
- *  mat2.h
- *
- *  (C) 2006 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * Author: Frank Neuhaus
- *******************************************************************************/
-
-#ifndef MAT2_H
-#define MAT2_H
-
-#include <math.h>
-#include <homer_nav_libs/Math/Point2D.h>
-#include <homer_nav_libs/Math/vec2.h>
-
-class CMat2
-{
-	public:
-		CMat2();
-		CMat2(float rot);
-		~CMat2();
-
-		CMat2 operator *(const CMat2 &mat) const;
-
-		CVec2 operator *(const CVec2& v) const;
-
-		Point2D operator *(const Point2D& p) const;
-        
-        float& operator [] (unsigned int position) {
-            return fMatrix[position];
-        }
-        
-        CMat2 operator +(const CMat2 rhs) const {
-            CMat2 newMatrix;
-            for (unsigned int i = 0; i < 4; i++) {
-                newMatrix[i] = valueAt(i) + rhs.valueAt(i);
-            }
-            return newMatrix;
-        }
-        
-        CMat2 operator -(const CMat2 rhs) const {
-            CMat2 newMatrix;
-            for (unsigned int i = 0; i < 4; i++) {
-                newMatrix[i] = valueAt(i) - rhs.valueAt(i);
-            }
-            return newMatrix;
-        }
-        
-        float valueAt(unsigned int position) const{
-            return fMatrix[position];
-        }
-        
-		union
-		{
-			float fMatrix[4];
-			float m[2][2];
-			struct
-			{
-				float xx, xy;
-				float yx, yy;
-			};
-		};
-
-		void transpose();
-		void loadIdentity();
-
-		void makeRotation(float fA);
-
-		bool invert();
-};
-
-
-
-#include "mat2_inl.h"
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/mat2_inl.h b/homer_nav_libs/include/homer_nav_libs/Math/mat2_inl.h
deleted file mode 100644
index e3f77e16..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/mat2_inl.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*******************************************************************************
- *  mat2_inl.h
- *
- *  (C) 2006 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * Author: Frank Neuhaus
- *******************************************************************************/
-
-#include <assert.h>
-
-inline CMat2::CMat2(){
-    for (unsigned int i = 0; i < 4; i++) {
-        fMatrix[i] = 0;
-    }
-}
-
-inline CMat2::~CMat2()
-{}
-
-inline CMat2::CMat2(float rot)
-{
-	makeRotation(rot);
-}
-
-inline CMat2 CMat2::operator * ( const CMat2 & mat ) const
-{
-    CMat2 retValue;
-    for (unsigned int line = 0; line < 2; line++) {
-        for (unsigned int column = 0; column < 2; column++) {
-            retValue[line*2 + column] = valueAt(line*2 + column) + mat.valueAt(column*2 + line);
-        }
-    }
-    return retValue;
-}
-
-inline CVec2 CMat2::operator * ( const CVec2& v ) const
-{
-	return CVec2(xx*v[0] + xy*v[1],yx*v[0] + yy*v[1]);
-}
-
-inline Point2D CMat2::operator * ( const Point2D& p ) const
-{
-	return Point2D(xx*p.x() + xy*p.y(), yx*p.x() + yy*p.y());
-}
-
-inline void CMat2::transpose()
-{
-	float t=xy;
-	xy=yx;
-	yx=t;
-}
-
-inline void CMat2::loadIdentity()
-{
-	xx=1.0f; xy=0.0f;
-	yx=0.0f; yy=1.0f;
-}
-
-inline void CMat2::makeRotation ( float fA )
-{
-	xx=yy=cosf(fA);
-	yx=sinf(fA);
-	xy=-yx;
-}
-
-inline bool CMat2::invert()
-{
-	CMat2 tmp;
-	float det = fMatrix[0]*fMatrix[3] - fMatrix[1]*fMatrix[2];
-
-	if(fabs(det) < 0.001f)	return false;
-
-	det = 1.0 / det;
-	tmp.fMatrix[0] = fMatrix[3]*det;
-	tmp.fMatrix[1] = -fMatrix[1]*det;
-	tmp.fMatrix[2] = -fMatrix[2]*det;
-	tmp.fMatrix[3] = fMatrix[0]*det;
-
-	(*this)=tmp;
-	return true;
-}
-
-
-
-
diff --git a/homer_nav_libs/include/homer_nav_libs/Math/vec2.h b/homer_nav_libs/include/homer_nav_libs/Math/vec2.h
deleted file mode 100644
index 39a72c8e..00000000
--- a/homer_nav_libs/include/homer_nav_libs/Math/vec2.h
+++ /dev/null
@@ -1,189 +0,0 @@
-/*******************************************************************************
- *  vec2.h
- *
- *  (C) 2006 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * Author: Frank Neuhaus, Susanne Maur
- *******************************************************************************/
-
-#include <iostream>
-#include <sstream>
-
-#ifndef VEC2_H
-#define VEC2_H
-
-#include <math.h>
-
-class CVec2
-{
-  public:
-
-    inline CVec2()
-    {
-      m_X = 0; m_Y = 0;
-    }
-
-    inline CVec2 ( double x, double y )
-    {
-      m_X=x; m_Y=y;
-    }
-
-    inline CVec2 ( const CVec2& vec )
-    {
-      m_X=vec.x(); m_Y=vec.y();
-    }
-
-    inline CVec2 operator+ ( const CVec2& vVector ) const
-    {
-      return CVec2 ( vVector[0] + m_X, vVector[1] + m_Y );
-    };
-
-    inline CVec2 operator- ( const CVec2& vVector ) const
-    {
-      return CVec2 ( m_X - vVector[0], m_Y - vVector[1] );
-    };
-    
-    inline CVec2 operator- ( ) const
-    {
-        return CVec2 ( - m_X, - m_Y );
-    };
-
-    inline CVec2 operator* ( double num ) const
-    {
-      return CVec2 ( m_X * num, m_Y * num );
-    };
-
-    inline double operator* ( const CVec2& vVector ) const
-    {
-      return m_X*vVector[0]+m_Y*vVector[1];
-    }
-
-    inline CVec2 operator/ ( double num ) const
-    {
-      return CVec2 ( m_X / num, m_Y / num );
-    }
-
-    inline void set ( double fx, double fy )
-    {
-      m_X=fx; m_Y=fy;
-    }
-
-    inline double x() const
-    {
-      return m_X;
-    }
-
-    inline double y() const
-    {
-      return m_Y;
-    }
-
-    inline double magnitude() const
-    {
-      double sumOfSquares = m_X*m_X + m_Y*m_Y;
-      return sqrt ( sumOfSquares );
-    }
-
-    inline double operator [] ( unsigned int i ) const
-    {
-      return ( ( double* ) this ) [i];
-    }
-
-    inline double& operator [] ( unsigned int i )
-    {
-      return ( ( double* ) this ) [i];
-    }
-
-    inline CVec2& operator/= ( double num )
-    {
-      double inv=1.0f/num;
-      m_X*=inv;
-      m_Y*=inv;
-      return ( *this );
-    }
-
-    inline CVec2& operator*= ( double num )
-    {
-      m_X*=num;
-      m_Y*=num;
-      return ( *this );
-    }
-
-    inline CVec2& normalize()
-    {
-      return ( *this/=magnitude() );
-    }
-
-    inline CVec2& makePerp()
-    {
-      double xn=m_X;
-      m_X=-m_Y;
-      m_Y=xn;
-      return *this;
-    }
-
-    inline CVec2 getNormal() const
-    {
-      return CVec2 ( m_Y, -m_X ); //?
-    }
-
-    inline CVec2 getNormalized() const
-    {
-      return ( *this ) /magnitude();
-    }
-
-    inline double sqr() const
-    {
-      return ( *this ) * ( *this );
-    }
-
-    inline double dot ( const CVec2& vec ) const
-    {
-      return ( m_X*vec[0] ) + ( m_Y*vec[1] );
-    }
-
-    inline double getAngle ( const CVec2& vec ) const
-    {
-      return acos ( dot ( vec ) / ( magnitude() *vec.magnitude() ) );
-    }
-
-    /// @param angle Rotation angle in radiants
-    inline CVec2 rotate ( float angle ) const
-    {
-      double xRot =  m_X*cos ( angle ) - m_Y*sin ( angle );
-      double yRot =  m_X*sin ( angle ) + m_Y*cos ( angle );
-      return CVec2 ( xRot, yRot );
-    }
-
-    inline bool equal ( CVec2 vec ) const
-    {
-      return ( m_X==vec.x() && m_Y==vec.y() );
-    }
-
-    /**
-     * Returns the string representation of the vector.
-     * @return string representation of the point.
-     */
-    inline std::string toString() const
-    {
-      std::ostringstream str;
-      str << m_X << " " << m_Y;
-      return str.str();
-    }
-
-  protected:
-    double m_X, m_Y;
-};
-
-inline CVec2 operator* ( double f, const CVec2& v )
-{
-  return v*f;
-}
-
-inline CVec2 normalize ( const CVec2& v )
-{
-  return v/v.magnitude();
-}
-
-#endif
diff --git a/homer_nav_libs/include/homer_nav_libs/tools.h b/homer_nav_libs/include/homer_nav_libs/tools.h
deleted file mode 100644
index 112c22f3..00000000
--- a/homer_nav_libs/include/homer_nav_libs/tools.h
+++ /dev/null
@@ -1,396 +0,0 @@
-#ifndef TOOLS_H
-#define TOOLS_H
-
-#include <Eigen/Geometry>
-#include <geometry_msgs/Point.h>
-#include <geometry_msgs/Pose.h>
-#include <sensor_msgs/LaserScan.h>
-#include <tf/transform_listener.h>
-#include <ros/ros.h>
-#include <vector>
-
-/**
- * @author Malte Knauf (2014)
- * Convenience functions that are often used in the mapping and navigation process
- */
-namespace map_tools
-{
-
-    /**
-     * @brief Converts a point p in world frame /map to the respective cell position in the map
-     * @param p Point in world frame
-     * @param origin Origin of the map
-     * @param resolution Resolution of the map
-     * @return Cell position of the point
-     */
-    Eigen::Vector2i toMapCoords(geometry_msgs::Point p, geometry_msgs::Pose origin, float resolution)
-    {
-        int x_idx = (p.x - origin.position.x)/resolution + 0.51;
-        int y_idx = (p.y - origin.position.y)/resolution + 0.51;
-        Eigen::Vector2i ret(x_idx, y_idx);
-        return ret;
-    }
-
-    /**
-     * @brief Converts the cell position of a point to its respective position in the world frame
-     * @param idx Cell position of the point
-     * @param origin Origin of the map
-     * @param resolution Resolution of the map
-     * @return Point in world frame
-     */
-    geometry_msgs::Point fromMapCoords(Eigen::Vector2i idx, geometry_msgs::Pose origin, float resolution)
-    {
-        geometry_msgs::Point ret;
-        ret.x = origin.position.x + (idx.x() - 0.5) * resolution;
-        ret.y = origin.position.y + (idx.y() - 0.5) * resolution;
-        return ret;
-    }
-
-    /**
-     * @brief Converts the QT pixel position of a point to its respective position in the world frame
-     * @param idx Cell position of the point
-     * @param origin Origin of the map
-     * @param resolution Resolution of the map
-     * @return Point in world frame
-     */
-    geometry_msgs::Point qtFromMapCoords(Eigen::Vector2i idx, geometry_msgs::Pose origin, float resolution)
-    {
-        geometry_msgs::Point ret;
-        ret.x = -(origin.position.x + idx.y()) * resolution;
-        ret.y = -(origin.position.y + idx.x()) * resolution;
-        return ret;
-    }
-
-    /**
-     * @brief map_index returns for a given point in the map real-world frame the respective index in the map
-     * @param p Point in the real-world frame (usually the frame /map or /world)
-     * @param origin Pose of the point (0,0) of the map in the real-world frame
-     * @param width Width of the map
-     * @param resolution Resolution in meters/cell of the map
-     * @return index of point in the map
-     */
-    int map_index(geometry_msgs::Point p, geometry_msgs::Pose origin, float width, float resolution)
-    {
-        return (int)(width *
-               ((p.y - origin.position.y)/resolution + 0.51) +
-               ((p.x - origin.position.x)/resolution + 0.51));
-    }
-
-    /**
-     * @brief point_in_map returns true if given point is in the map. False otherwise
-     * @param p Point in the real-world frame (usually the frame /map or /world)
-     * @param origin Pose of the point (0,0) of the map in the real-world frame
-     * @param width Width of the map
-     * @param resolution Resolution in meters/cell of the map
-     * @return true or false
-     */
-    bool point_in_map(geometry_msgs::Point p, geometry_msgs::Pose origin, float width, float resolution)
-    {
-        int x_idx = (p.x - origin.position.x)/resolution + 0.51;
-        int y_idx = (p.y - origin.position.y)/resolution + 0.51;
-        if(x_idx < 0 || y_idx < 0 || x_idx >= width || y_idx >= width) return false;
-        return true;
-    }
-
-    /**
-     * @brief transformPoint wrapper to transform points between coordinate frames
-     * @param point input point in from_frame
-     * @param listener transform listener
-     * @param from_frame input frame
-     * @param to_frame output frame
-     * @return transformed point in to_frame
-     */
-    geometry_msgs::Point transformPoint(geometry_msgs::Point point, tf::TransformListener &listener,
-                                        std::string from_frame, std::string to_frame, ros::Time stamp = ros::Time(0))
-    {
-        geometry_msgs::PointStamped pin;
-        geometry_msgs::PointStamped pout;
-        pin.header.frame_id = from_frame;
-        pin.point = point;
-        try
-        {
-            listener.transformPoint(to_frame, stamp, pin, "/map",pout);
-            return pout.point;
-        }
-        catch (tf::TransformException ex){
-              ROS_ERROR("%s",ex.what());
-        }
-    }
-    
-    geometry_msgs::Point transformPoint(const geometry_msgs::Point point, tf::StampedTransform transform)
-    {    
-      geometry_msgs::Point point_out;
-	  tf::Vector3 pin;
-	  tf::Vector3 pout;
-	  pin.setX(point.x);
-	  pin.setY(point.y);
-	  pin.setZ(point.z);
-
-	  pout = transform* pin;
-
-	  point_out.x = pout.x();
-	  point_out.y = pout.y();
-
-	  return point_out;
-	 }
-     geometry_msgs::Point transformPoint(const geometry_msgs::Point point, tf::Transform transform)
-    {    
-      geometry_msgs::Point point_out;
-	  tf::Vector3 pin;
-	  tf::Vector3 pout;
-	  pin.setX(point.x);
-	  pin.setY(point.y);
-	  pin.setZ(point.z);
-
-	  pout = transform* pin;
-
-	  point_out.x = pout.x();
-	  point_out.y = pout.y();
-	  point_out.z = pout.z();
-
-	  return point_out;
-	 }
-    
-    /**
-     * @brief transformPoint wrapper to transform points between coordinate frames at specific time
-     * @param point input point in from_frame
-     * @param listener transform listener
-     * @param Time to look for transform
-     * @param from_frame input frame
-     * @param to_frame output frame
-     * @return transformed point in to_frame
-     */
-    geometry_msgs::Point transformPoint(geometry_msgs::Point point, tf::TransformListener &listener, const ros::Time & time ,
-                                        std::string from_frame, std::string to_frame)
-    {
-        geometry_msgs::PointStamped pin;
-        geometry_msgs::PointStamped pout;
-        pin.header.frame_id = from_frame;
-        pin.point = point;
-        try
-        {
-            listener.transformPoint(to_frame, time, pin, "/map" ,pout);
-            return pout.point;
-        }
-        catch (tf::TransformException ex){
-              ROS_ERROR("%s",ex.what());
-        }
-    }
-
-    /**
-     * @brief laser_range_to_point converts a single given laser scan range in polar coordinates
-     *          to the respective point in euclidean coordinates in the target frame
-     * @param laser_range range of the laser point to convert
-     * @param index
-     * @param start_angle
-     * @param angle_step
-     * @param listener
-     * @param from_frame
-     * @param to_frame
-     * @return
-     */
-    geometry_msgs::Point laser_range_to_point(float laser_range, int index, float start_angle,
-                                              float angle_step, tf::TransformListener &listener,
-                                              std::string from_frame, std::string to_frame, ros::Time stamp = ros::Time(0), float time_inc = 0)
-    {
-        float alpha = start_angle + index * angle_step;
-        geometry_msgs::PointStamped pin;
-        geometry_msgs::PointStamped pout;
-        pin.header.frame_id = from_frame;
-        pin.point.x = cos(alpha) * laser_range;
-        pin.point.y = sin(alpha) * laser_range;
-
-        try
-        {      
-            listener.transformPoint(to_frame, stamp, pin, "/map", pout);
-            return pout.point;
-        }
-        catch (tf::TransformException ex){
-              //ROS_ERROR("%s",ex.what());
-        }
-    }
-
-    /**
-     * @brief laser_ranges_to_points converts a given laser scan in polar coordinates
-     *          to the respective points in euclidean coordinates in the target frame
-     * @param laser_data laser data ranges
-     * @param start_angle angle of the first measurement
-     * @param angle_step angle increment between two consecutive laser measurements
-     * @param range_min minimum valid range
-     * @param range_max maximum valid range
-     * @return vector containing the laser measurements in euclidean points
-     */
-    std::vector<geometry_msgs::Point> laser_ranges_to_points(const std::vector<float>& laser_data, float start_angle,
-                                                        float angle_step, float range_min, float range_max,
-                                                        tf::TransformListener &listener,
-                                                        std::string from_frame, std::string to_frame, ros::Time stamp = ros::Time(0), float time_inc = 0)
-    {
-        std::vector<geometry_msgs::Point> ret;
-        float alpha = start_angle;
-        for (int i = 0; i < laser_data.size(); i++) {
-          if(laser_data[i] < range_min || laser_data[i] > range_max)
-          {
-              alpha += angle_step;
-              continue;
-          }
-          geometry_msgs::Point point;
-          point.x = cos(alpha) * laser_data.at(i);
-          point.y = sin(alpha) * laser_data.at(i);
-
-          geometry_msgs::PointStamped pin;
-          pin.header.frame_id = from_frame;
-          pin.point = point;
-          geometry_msgs::PointStamped pout;
-          try
-          {
-              listener.transformPoint(to_frame, stamp, pin, "/map", pout);
-              ret.push_back(pout.point);
-          }
-          catch (tf::TransformException ex){
-                //ROS_ERROR("%s",ex.what());
-          }
-
-          alpha += angle_step;
-        }
-        return ret;
-    }
-    
-    
-        /**
-     * @brief laser_msg_to_points converts a given laser scan in polar coordinates
-     *          to the respective points in euclidean coordinates in the target frame 
-     *			at a specific time
-     * @param scan laser data msg
-     * @param listener TransformListener
-     * @param to_frame target frame
-     * @return vector containing the laser measurements in euclidean points
-     */
-    std::vector<geometry_msgs::Point> laser_msg_to_points(const sensor_msgs::LaserScan::ConstPtr& scan,
-                                                        tf::TransformListener &listener, std::string to_frame, ros::Time stamp = ros::Time(0))
-    {
-        std::vector<geometry_msgs::Point> ret;
-        float alpha = scan->angle_min;
-		if(!listener.waitForTransform(scan->header.frame_id, to_frame, stamp, ros::Duration(0.3)))
-		{
-			return ret;
-		}
-        for (int i = 0; i < scan->ranges.size(); i++) {
-          if(scan->ranges[i] < scan->range_min || scan->ranges[i] > scan->range_max)
-          {
-              alpha += scan->angle_increment;
-              continue;
-          }
-          geometry_msgs::Point point;
-          point.x = cos(alpha) * scan->ranges.at(i);
-          point.y = sin(alpha) * scan->ranges.at(i);
-
-          geometry_msgs::PointStamped pin;
-          pin.header.frame_id = scan->header.frame_id;
-          pin.point = point;
-          geometry_msgs::PointStamped pout;
-          try
-          {
-              //listener.transformPoint(to_frame, (stamp + ros::Duration( i * scan->time_increment)), pin, "/map" ,pout);
-              listener.transformPoint(to_frame, stamp, pin, "/map" ,pout);
-              ret.push_back(pout.point);
-          }
-          catch (tf::TransformException ex){
-                ROS_ERROR("%s",ex.what());
-          }
-
-          alpha += scan->angle_increment;
-        }
-        return ret;
-    }
-    
-     /**
-     * @brief get_max_move_distance searches for the nearest values in an defined area 
-     * @param vector points: laserPoints in base_link
-     * @return float distance to nearest Point
-     */
-float get_max_move_distance(std::vector<geometry_msgs::Point> points, float min_x, float min_y)
-{
-	float minDistance = 30; 
-	for (unsigned int i = 0; i < points.size(); i++)
-	{
-		if(std::fabs(points[i].y) < min_y && points[i].x > min_x)
-		{
-			float distance = sqrt((points[i].x * points[i].x) + (points[i].y * points[i].y));
-			if (distance < minDistance)
-			{
-				minDistance = distance;
-			}
-		}
-	}
-	float maxMoveDist = minDistance - min_x;
-	if (maxMoveDist < 0) 
-	{
-		maxMoveDist = 0.0;
-	}
-	return maxMoveDist;
-}
-    
-
-    /**
-     * @brief Calculates the euclidean distance (in cells) between to points in the map
-     * @param a Point a
-     * @param b point b
-     * @return euclidean distance in cells
-     */
-    double distance(const Eigen::Vector2i& a, const Eigen::Vector2i& b)
-    {
-        return sqrt((a.x() - b.x()) * (a.x() - b.x()) + (a.y() - b.y()) * (a.y() - b.y()));
-    }
-
-    /**
-     * @brief Calculates the euclidean distance (in m) between to points in the world
-     * @param a Point a
-     * @param b point b
-     * @return euclidean distance in m
-     */
-    double distance(const geometry_msgs::Point& a, const geometry_msgs::Point& b)
-    {
-        return sqrt((a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y));
-    }
-
-/**
- * @brief findValue
- * @param map Pointer to the map to search
- * @param width Width of the map
- * @param height Height of the map
- * @param center_x \__ Center point of circle to search within
- * @param center_y /
- * @param value Value to search for in given map
- * @param radius Radius of the circle
- * @return true if the given value could be found within the given radius around (x,y)
- */
-    bool findValue(const std::vector<int8_t>* map, int width, int height, int center_x, int center_y, unsigned char value, float radius)
-    {
-
-      int start_x = int ( center_x - radius );
-      int start_y = int ( center_y - radius );
-      int end_x = int ( center_x + radius );
-      int end_y = int ( center_y + radius );
-
-      if ( start_x < 0 ) { start_x = 0; }
-      if ( start_y < 0 ) { start_y = 0; }
-      if ( end_x >= int ( width ) ) { end_x = width - 1; }
-      if ( end_y >= int ( height ) ) { end_y = height - 1; }
-
-      float sqr_radius = radius*radius;
-
-      for ( int y = start_y; y <= end_y; y++ )
-        for ( int x = start_x; x <= end_x; x++ )
-        {
-          if ( map->at(x+width*y) > value )
-          {
-            float sqr_dist = float ( x - center_x ) * float ( x - center_x ) + float ( y - center_y ) * float ( y - center_y );
-            if ( sqr_dist <= sqr_radius ) { return true; }
-          }
-        }
-
-      return false;
-    }
-}
-
-#endif // TOOLS_H
diff --git a/homer_nav_libs/package.xml b/homer_nav_libs/package.xml
deleted file mode 100644
index 7f2a2eaa..00000000
--- a/homer_nav_libs/package.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>homer_nav_libs</name>
-  <version>0.1.1</version>
-  <description>The nav_libs package</description>
-
-  <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
-  <author email="mknauf@uni-koblenz.de">Malte Knauf</author>
-  <license>GPLv3</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>cmake_modules</build_depend>
-  <build_depend>eigen</build_depend>
-
-  <run_depend>roscpp</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>eigen</run_depend>
-
-</package>
diff --git a/homer_nav_libs/readme.pdf b/homer_nav_libs/readme.pdf
deleted file mode 100644
index 98fc92ccae14a8a818948ce4c73a8926f6ad2028..0000000000000000000000000000000000000000
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diff --git a/homer_nav_libs/src/Explorer/Explorer.cpp b/homer_nav_libs/src/Explorer/Explorer.cpp
deleted file mode 100644
index 509964e4..00000000
--- a/homer_nav_libs/src/Explorer/Explorer.cpp
+++ /dev/null
@@ -1,1408 +0,0 @@
-#include <homer_nav_libs/Explorer/Explorer.h>
-
-using namespace std;
-using namespace ExplorerConstants;
-
-Explorer::Explorer ( double minAllowedObstacleDistance, double maxAllowedObstacleDistance,
-             double minSafeObstacleDistance, double maxSafeObstacleDistance,
-             double safePathWeight, double frontierSafenessFactor, int unknownThreshold )
-{
-  ExplorerConstants::UNKNOWN = unknownThreshold;
-
-  m_MinAllowedObstacleDistance = minAllowedObstacleDistance;
-  m_MaxAllowedObstacleDistance = maxAllowedObstacleDistance;
-
-  m_MinSafeObstacleDistance = minSafeObstacleDistance;
-  m_MaxSafeObstacleDistance = maxSafeObstacleDistance;
-
-  m_SafePathWeight = safePathWeight;
-  m_FrontierSafenessFactor = frontierSafenessFactor;
-
-  m_OccupancyMap = 0;
-  m_ObstacleTransform = 0;
-  m_CostTransform = 0;
-  m_TargetMap = 0;
-  m_DrivingDistanceTransform = 0;
-  m_TargetDistanceTransform = 0;
-  m_PathTransform = 0;
-  m_ExplorationTransform = 0;
-  m_DesiredDistance = 0;
-}
-
-Explorer::~Explorer()
-{
-  releaseMaps();
-  releaseMap( m_OccupancyMap );
-}
-
-void Explorer::releaseMaps()
-{
-  releaseMap( m_TargetMap );
-  releaseMap( m_ObstacleTransform );
-  releaseMap( m_CostTransform );
-  releaseMap( m_DrivingDistanceTransform );
-  releaseMap( m_TargetDistanceTransform );
-  releaseMap( m_PathTransform );
-  releaseMap( m_ExplorationTransform );
-}
-
-// SETTERS ////////////////////////////////////////////////////////////////////////////////////////////////
-
-void Explorer::setUnknownThreshold(int unknownTresh)
-{
-    ExplorerConstants::UNKNOWN = unknownTresh;
-}
-
-void Explorer::setAllowedObstacleDistance ( double min, double max )
-{
-  m_MinAllowedObstacleDistance = min;
-  m_MaxAllowedObstacleDistance = max;
-  releaseMaps();
-}
-
-void Explorer::setSafeObstacleDistance ( double min, double max )
-{
-  m_MinSafeObstacleDistance = min;
-  m_MaxSafeObstacleDistance = max;
-  releaseMaps();
-}
-
-void Explorer::setSafePathWeight ( double weight )
-{
-  m_SafePathWeight = weight;
-  releaseMaps();
-}
-
-void Explorer::setFrontierSafenessFactor( double frontierSafenessFactor )
-{
-  m_FrontierSafenessFactor = frontierSafenessFactor;
-  releaseMaps();
-}
-
-void Explorer::setOccupancyMap ( int width, int height, geometry_msgs::Pose origin, int8_t* data )
-{
-  if ( !data ) {
-    ROS_ERROR( "Received 0-pointer." );
-    return;
-  }
-  releaseMaps();
-  releaseMap( m_OccupancyMap );
-  //m_OccupancyMap = new GridMap<unsigned char> ( width, height, data, exploredRegion );
-  m_OccupancyMap = new GridMap<int8_t> ( width, height, data );
-  m_Origin = origin;
-}
-
-
-void Explorer::updateObstacles(int width, int height, geometry_msgs::Pose origin, int8_t* mapData)
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-  if ( (width != m_OccupancyMap->width()) || (height != m_OccupancyMap->height()) ) {
-    ROS_ERROR_STREAM( "Wrong map size!" );
-    return;
-  }
-  for ( unsigned i=0; i<m_OccupancyMap->width()*m_OccupancyMap->height(); i++ )
-  {
-    int8_t* myMapData=m_OccupancyMap->getDirectAccess(0,0);
-    if ( myMapData[i] != UNKNOWN )
-    {
-      myMapData[i]=mapData[i];
-    }
-  }
-  releaseMaps();
-}
-
-void Explorer::resetExploration()
-{
-  m_DesiredDistance = 0;
-}
-
-void Explorer::setStart ( Eigen::Vector2i start )
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR_STREAM( "Occupancy map is missing." );
-    return;
-  }
-  if (( start.x() <= 1 ) || ( start.y() <= 1 ) || ( start.x() >= m_OccupancyMap->width()-1 ) || ( start.y() >= m_OccupancyMap->height()-1 ) )
-  {
-    ROS_ERROR_STREAM( "Invalid position!" );
-    return;
-  }
-  computeWalkableMaps();
-
-  if ( !isWalkable( start.x(), start.y() ) )
-  {
-    Eigen::Vector2i correctedStart=getNearestWalkablePoint( start );
-    if ( !isWalkable( correctedStart.x(), correctedStart.y() ) )
-    {
-      ROS_ERROR_STREAM( "No walkable position was found on the map!" );
-    } 
-    else
-    {
-      ROS_INFO_STREAM("Start position " << start.x() << "," << start.y() <<  " was corrected to " << correctedStart.x() << "," << correctedStart.y());
-    }
-    m_Start = correctedStart;
-    return;
-  }
-  m_Start = start;
-}
-
-
-Eigen::Vector2i Explorer::getNearestAccessibleTarget(Eigen::Vector2i target )
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return target;
-  }
-  if ( ( target.x() <= 1 ) || ( target.y() <= 1 ) || ( target.x() >= m_OccupancyMap->width()-1 ) || ( target.y() >= m_OccupancyMap->height()-1 ) )
-  {
-    ROS_ERROR( "Invalid position!" );
-    return target;
-  }
-  computeApproachableMaps();
-  computeWalkableMaps();
-  Eigen::Vector2i correctTarget=target;
-
-  if ( !isApproachable( target.x(), target.y() ) )
-  {
-    ROS_INFO_STREAM("target cell in drivingdistancetransform: " << m_DrivingDistanceTransform->getValue ( target.x(), target.y() ));
-    ROS_INFO_STREAM("target " << target << " is not approachable. Correcting target...");
-    int minSqrDist=INT_MAX;
-    for ( int x = 0; x < m_ObstacleTransform->height(); x++ )
-    {
-      for ( int y = 0; y < m_ObstacleTransform->width(); y++ )
-      {
-        bool isSafe = m_ObstacleTransform->getValue ( x, y ) > m_FrontierSafenessFactor * m_MinAllowedObstacleDistance;
-        if ( isApproachable ( x,y ) && isWalkable( x , y) && isSafe )
-        {
-          int xDiff = target.x() - x;
-          int yDiff = target.y() - y;
-          int sqrDist = xDiff*xDiff + yDiff*yDiff;
-          if ( sqrDist < minSqrDist )
-          {
-            correctTarget.x() = x;
-            correctTarget.y() = y;
-            minSqrDist = sqrDist;
-          }
-        }
-      }
-    }
-  }
-  ROS_DEBUG_STREAM("Target position " << target.x() << "," << target.y() << " was corrected to " << correctTarget.x() << "," << correctTarget.y());
-
-  return correctTarget;
-}
-
-
-Eigen::Vector2i Explorer::getNearestWalkablePoint( Eigen::Vector2i target )
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return target;
-  }
-  if (( target.x() <= 1 ) || ( target.y() <= 1 ) || ( target.x() >= m_OccupancyMap->width()-1 ) || ( target.y() >= m_OccupancyMap->height()-1 ) )
-  {
-    ROS_ERROR( "Invalid position!" );
-    return target;
-  }
-
-  computeWalkableMaps();
-  Eigen::Vector2i correctTarget=target;
-
-
-  if ( !isWalkable( target.x(), target.y() ) )
-  {
-    int minSqrDist=INT_MAX;
-    for ( int x = 0; x < m_ObstacleTransform->height(); x++ )
-    {
-      for ( int y = 0; y < m_ObstacleTransform->width(); y++ )
-      {
-        if ( isWalkable ( x,y ) )
-        {
-          int xDiff = target.x() - x;
-          int yDiff = target.y() - y;
-          int sqrDist = xDiff*xDiff + yDiff*yDiff;
-          if ( sqrDist < minSqrDist )
-          {
-            correctTarget.x() = x;
-            correctTarget.y() = y;
-            minSqrDist = sqrDist;
-          }
-        }
-      }
-    }
-  }
-  ROS_DEBUG_STREAM("Position " << target.x() << "," << target.y() << " was corrected to " << correctTarget.x() << "," << correctTarget.y());
-
-  return correctTarget;
-}
-
-
-void Explorer::setTarget (Eigen::Vector2i target )
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-  if ( ( target.x() <= 1 ) || ( target.y() <= 1 ) || ( target.x() >= m_OccupancyMap->width()-1 ) || ( target.y() >= m_OccupancyMap->height()-1 ) )
-  {
-    ROS_ERROR( "Invalid position!" );
-    return;
-  }
-  computeApproachableMaps();
-  if ( !isApproachable ( target.x(), target.y() ) )
-  {
-    ROS_WARN( "Target position is not approachable. Path computation will possibly fail." );
-  }
-  m_Target = target;
-  m_DesiredDistance = 0;
-}
-
-
-void Explorer::setTarget (Eigen::Vector2i target, int desiredDistance )
-{
-  ROS_ERROR_STREAM("setTarget still in use!!");
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-  
-  if ( desiredDistance < 1 )
-  {
-    setTarget( target );
-    return;
-  }
-  
-  if ( target.x() + desiredDistance <= 1 || target.x() - desiredDistance >= m_OccupancyMap->width()-1 ||
-       target.y() + desiredDistance <= 1 || target.y() - desiredDistance >= m_OccupancyMap->height()-1 )
-  {
-    ROS_ERROR( "Invalid position" );
-    return;
-  }
-  computeApproachableMaps();
-  // TODO: check if region is approachable
-  m_Target = target;
-  m_DesiredDistance = desiredDistance;
-}
-
-
-// GETTERS ////////////////////////////////////////////////////////////////////////////////////////////////
-
-Eigen::Vector2i Explorer::getStart() const
-{
-  return m_Start;
-}
-
-Eigen::Vector2i Explorer::getTarget() const
-{
-  return m_Target;
-}
-
-GridMap<int8_t>* Explorer::getOccupancyMap()
-{
-  return m_OccupancyMap;
-}
-
-GridMap<double>* Explorer::getObstacleTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return 0;
-  }
-  computeObstacleTransform();
-  return m_ObstacleTransform;
-}
-
-GridMap<double>* Explorer::getCostTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return 0;
-  }
-  computeCostTransform();
-  return m_CostTransform;
-}
-
-GridMap<bool>* Explorer::getTargetMap()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return 0;
-  }
-
-  computeTargetMap();
-  return m_TargetMap;
-}
-
-GridMap<double>* Explorer::getDrivingDistanceTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return 0;
-  }
-  computeDrivingDistanceTransform();
-  return m_DrivingDistanceTransform;
-}
-
-GridMap<double>* Explorer::getTargetDistanceTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return 0;
-  }
-  computeTargetDistanceTransform();
-  return m_TargetDistanceTransform;
-}
-
-GridMap<double>* Explorer::getPathTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return 0;
-  }
-  computePathTransform();
-  return m_PathTransform;
-}
-
-GridMap<double>* Explorer::getExplorationTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return 0;
-  }
-  computeExplorationTransform();
-  return m_ExplorationTransform;
-}
-
-
-
-// MAP GENERATION ////////////////////////////////////////////////////////////////////////////////////////////////7
-
-
-void Explorer::computeApproachableMaps()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-  computeDrivingDistanceTransform();
-}
-
-
-void Explorer::computeWalkableMaps()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-  computeObstacleTransform();
-}
-
-
-void Explorer::computeDrivingDistanceTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-
-  if ( m_DrivingDistanceTransform ) { return; }
-
-  ROS_DEBUG( "Computing drivingDistanceTransform..."  );
-  resetMap( m_DrivingDistanceTransform );
-  distanceFloodFill ( m_DrivingDistanceTransform, m_Start );
-}
-
-
-void Explorer::computeTargetDistanceTransform()
-{
-  if ( !m_OccupancyMap )
-  {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-
-  if ( m_TargetDistanceTransform ) { return; }
-
-  ROS_DEBUG( "Computing targetDistanceTransform..."  );
-  resetMap( m_TargetDistanceTransform );
-  distanceFloodFill ( m_TargetDistanceTransform, m_Target );
-}
-
-
-void Explorer::computeRegionMap()
-{
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-  
-  resetMap( m_TargetMap );
-  ROS_DEBUG( "Computing target region map..."  );
-  
-  m_TargetMap->fill( false );
-  const int desiredDistanceSquared = m_DesiredDistance * m_DesiredDistance;
-  int height = m_OccupancyMap->height();
-  int width = m_OccupancyMap->width();
-  
-  // draw a circle onto the ExplorationMap
-  const int firstX = m_Target.x() - m_DesiredDistance <= 1 ? 2 : m_Target.x() - m_DesiredDistance;
-  const int firstY = m_Target.y() - m_DesiredDistance <= 1 ? 2 : m_Target.y() - m_DesiredDistance;
-  const int lastX  = m_Target.x() + m_DesiredDistance >= width-1  ? width-2  : m_Target.x() + m_DesiredDistance;
-  const int lastY  = m_Target.y() + m_DesiredDistance >= height-1 ? height-2 : m_Target.y() + m_DesiredDistance;
-  
-  for ( int y = firstY; y <= lastY; ++y )
-  {
-    for ( int x = firstX; x <= lastX; ++x ) 
-    {
-      const int dx = x - m_Target.x();
-      const int dy = y - m_Target.y();
-      
-      if ( dx*dx + dy*dy <= desiredDistanceSquared )
-      {
-        m_TargetMap->setValue( x, y, true );
-      }
-    }
-  }
-}
-
-void Explorer::computeFrontierMap()
-{
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Occupancy map is missing." );
-    return;
-  }
-
-  // if ( m_FrontierMap ) { return; }
-
-  resetMap( m_TargetMap );
-  
-  ROS_DEBUG( "Computing frontier map..."  );
-  m_TargetMap->fill ( 0 );
-  // extract borders
-  for ( int y = 1; y < m_OccupancyMap->height() - 1; y++ )
-  {
-    for ( int x = 1; x < m_OccupancyMap->width() - 1; x++ )
-    {
-      int value = m_OccupancyMap->getValue ( x, y );
-      int value_u = m_OccupancyMap->getValue ( x, y - 1 );
-      int value_d = m_OccupancyMap->getValue ( x, y + 1 );
-      int value_l = m_OccupancyMap->getValue ( x - 1, y );
-      int value_r = m_OccupancyMap->getValue ( x + 1, y );
-      bool isFree = value < UNKNOWN && value != NOT_SEEN_YET;
-      bool upUnknown = (value_u == UNKNOWN || value_u == NOT_SEEN_YET);
-      bool downUnknown = (value_d == UNKNOWN || value_u == NOT_SEEN_YET);
-      bool leftUnknown = (value_l == UNKNOWN || value_u == NOT_SEEN_YET);
-      bool rightUnknown = (value_r == UNKNOWN || value_u == NOT_SEEN_YET);
-      bool hasUnknownNeighbour = upUnknown || downUnknown || leftUnknown || rightUnknown;
-      bool isSafe = m_ObstacleTransform->getValue ( x, y ) > m_FrontierSafenessFactor * m_MinAllowedObstacleDistance;
-      if ( isFree && hasUnknownNeighbour && isSafe )
-      {
-        m_TargetMap->setValue ( x, y, 1 );
-      }
-      else
-      {
-        m_TargetMap->setValue ( x, y, 0 );
-      }
-    }
-  }
-}
-
-void Explorer::computeTargetMap()
-{
-  ROS_ERROR_STREAM("target Map shouldn't be used anymore!");
-  if ( m_DesiredDistance < 1 )
-  {
-    computeFrontierMap();
-  }
-  else
-  {     
-    computeRegionMap();
-  }
-}
-
-void Explorer::computeObstacleTransform()
-{
-  if ( !m_OccupancyMap) 
-  {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return;
-  }
-
-  if ( m_ObstacleTransform ) 
-  { 
-  	return; 
-  }
-
-  resetMap( m_ObstacleTransform );
-
-  ROS_DEBUG( "Computing obstacle transform..."  );
-  for ( int x = 0; x < m_ObstacleTransform->width(); x++ )
-  {
-    for ( int y = 0; y < m_ObstacleTransform->height(); y++ )
-    {
-      if ( m_OccupancyMap->getValue(x, y) >  UNKNOWN ||  
-           m_OccupancyMap->getValue(x, y) == NOT_SEEN_YET)
-      {
-        m_ObstacleTransform->setValue ( x, y, 0 ); // Obstacle
-      }
-      else
-      {
-        m_ObstacleTransform->setValue ( x, y, INT_MAX ); // Free
-      }
-    }
-  }
-
-  int width = m_ObstacleTransform->width();
-  int height = m_ObstacleTransform->height();
-  double* f = new double[width > height ? width : height];
-
-  // transform along columns
-  for ( int x = 0; x < width; x++ )
-  {
-    for ( int y = 0; y < height; y++ )
-    {
-      // copy column
-      f[y] = m_ObstacleTransform->getValue ( x, y );
-    }
-    // 1-D transform of column
-    double* d = distanceTransform1D ( f, height );
-    // copy transformed 1-D to output image
-    for ( int y = 0; y < height; y++ )
-    {
-      m_ObstacleTransform->setValue ( x, y, d[y] );
-    }
-    delete [] d;
-  }
-
-  // transform along rows
-  for ( int y = 0; y < height; y++ )
-  {
-    for ( int x = 0; x < width; x++ )
-    {
-      f[x] = m_ObstacleTransform->getValue ( x, y );
-    }
-    double* d = distanceTransform1D ( f, width );
-    for ( int x = 0; x < width; x++ )
-    {
-      m_ObstacleTransform->setValue ( x, y, d[x] );
-    }
-    delete [] d;
-  }
-  delete f;
-
-  // take square roots
-  for ( int y = 0; y < m_ObstacleTransform->height(); y++ )
-  {
-    for ( int x = 0; x < m_ObstacleTransform->width(); x++ )
-    {
-      if ( isWalkable( x,y ) )
-      {
-        float value = sqrt ( m_ObstacleTransform->getValue ( x, y ) );
-        m_ObstacleTransform->setValue ( x, y, value );
-      }
-    }
-  }
-}
-
-
-void Explorer::computeCostTransform()
-{
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return;
-  }
-
-  if ( m_CostTransform ) { return; }
-
-  computeObstacleTransform();
-  computeApproachableMaps();
-
-  resetMap( m_CostTransform );
-  m_CostTransform->fill( ExplorerConstants::MAX_COST );
-
-  for ( unsigned y=0; y<m_CostTransform->height(); y++)
-  {
-    for ( unsigned x=0; x<m_CostTransform->width(); x++)
-    {
-      if ( !isApproachable( x, y ) ) {
-        continue;
-      }
-      double dist = m_ObstacleTransform->getValue(x, y);
-      double cost = 0;
-      if ( dist < m_MinSafeObstacleDistance ) {
-        cost = m_MinSafeObstacleDistance - dist;
-      }
-//      if ( dist > m_MaxSafeObstacleDistance ) {
-//        cost = dist - m_MaxSafeObstacleDistance;
-//      }
-      m_CostTransform->setValue( x, y, cost * cost );
-    }
-  }
-}
-
-
-void Explorer::computePathTransform()
-{
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return;
-  }
-
-  if ( m_PathTransform ) { return; }
-
-  computeObstacleTransform();
-  computeCostTransform();
-
-  resetMap( m_PathTransform );
-
-  ROS_DEBUG( "Computing path transform..."  );
-  GridMap<double>* map = m_PathTransform;
-  int width = map->width();
-  int height = map->height();
-  double maxDistance = MAX_DISTANCE;
-  map->fill ( maxDistance );
-
-  int fromX = m_Target.x();
-  int fromY = m_Target.y();
-  map->setValue ( fromX, fromY, 0 );
-
-  queue<int> xQueue;
-  queue<int> yQueue;
-  xQueue.push ( fromX + 1 );
-  yQueue.push ( fromY );
-  xQueue.push ( fromX - 1 );
-  yQueue.push ( fromY );
-  xQueue.push ( fromX );
-  yQueue.push ( fromY - 1 );
-  xQueue.push ( fromX );
-  yQueue.push ( fromY + 1 );
-  int xVal, yVal;
-  while ( !xQueue.empty() )
-  {
-    xVal = xQueue.front();
-    yVal = yQueue.front();
-    xQueue.pop();
-    yQueue.pop();
-    if ( xVal > 0 && xVal < width - 1 && yVal > 0 && yVal < height - 1 && isWalkable( xVal, yVal ) )
-    {
-      float value = map->getValue ( xVal, yVal );
-      float value_u = map->getValue ( xVal, yVal - 1 ) + 1;
-      float value_d = map->getValue ( xVal, yVal + 1 ) + 1;
-      float value_l = map->getValue ( xVal - 1, yVal ) + 1;
-      float value_r = map->getValue ( xVal + 1, yVal ) + 1;
-
-      float value_ur = map->getValue ( xVal + 1, yVal - 1 ) + 1.4142;
-      float value_ul = map->getValue ( xVal - 1, yVal - 1 ) + 1.4142;
-      float value_ll = map->getValue ( xVal - 1, yVal + 1 ) + 1.4142;
-      float value_lr = map->getValue ( xVal + 1, yVal + 1 ) + 1.4142;
-
-      float min1 = value_u < value_d ? value_u : value_d;
-      float min2 = value_l < value_r ? value_l : value_r;
-      float min3 = value_ur < value_ul ? value_ur : value_ul;
-      float min4 = value_ll < value_lr ? value_ll : value_lr;
-      float min12 = min1 < min2 ? min1 : min2;
-      float min34 = min3 < min4 ? min3 : min4;
-      float min = min12 < min34 ? min12 : min34;
-      float newVal = min + m_SafePathWeight * m_CostTransform->getValue( xVal, yVal );
-      if ( value > newVal )
-      {
-        map->setValue ( xVal, yVal, newVal );
-        if ( map->getValue ( xVal, yVal + 1 ) > newVal + 1 )
-        {
-          xQueue.push ( xVal );
-          yQueue.push ( yVal + 1 );
-        }
-        if ( map->getValue ( xVal, yVal - 1 ) > newVal + 1 )
-        {
-          xQueue.push ( xVal );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal + 1, yVal ) > newVal + 1 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal );
-        }
-        if ( map->getValue ( xVal - 1, yVal ) > newVal + 1 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal );
-        }
-        if ( map->getValue ( xVal + 1, yVal - 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal - 1, yVal - 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal + 1, yVal + 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal + 1 );
-        }
-        if ( map->getValue ( xVal - 1, yVal + 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal + 1 );
-        }
-      }
-    }
-  }
-}
-
-
-void Explorer::computeExplorationTransform()
-{
-  ROS_ERROR_STREAM("Exploration Transform shouldn't be used!");
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return;
-  }
-
-  if ( m_ExplorationTransform ) { return; }
-
-  ROS_DEBUG_STREAM("computeExplorationTransform: before obstacle transform");
-  computeObstacleTransform();
-  ROS_DEBUG_STREAM("computeExplorationTransform: before cost transform");
-  computeCostTransform();
-  ROS_DEBUG_STREAM("computeExplorationTransform: before target map");
-  computeTargetMap();
-  ROS_DEBUG_STREAM("computeExplorationTransform: before walkable maps");
-  computeWalkableMaps();
-  ROS_DEBUG_STREAM("computeExplorationTransform: before exploration transform");
-  resetMap( m_ExplorationTransform );
-
-  ROS_DEBUG( "Computing exploration transform..."  );
-  GridMap<double>* map = m_ExplorationTransform;
-  int width = map->width();
-  int height = map->height();
-  double maxDistance = MAX_DISTANCE;
-  map->fill ( maxDistance );
-  queue<int> xQueue;
-  queue<int> yQueue;
-  // fill seeds: Mark the frontiers as targets
-  ROS_DEBUG_STREAM("computeExplorationTransform: before first loop");
-  for ( int y = 0; y < m_TargetMap->height(); y++ )
-  {
-    for ( int x = 0; x < m_TargetMap->width(); x++ )
-    {
-      if ( m_TargetMap->getValue ( x, y ) == 1 )
-      {
-        map->setValue ( x, y, 0 );
-        xQueue.push ( x + 1 );
-        yQueue.push ( y );
-        xQueue.push ( x - 1 );
-        yQueue.push ( y );
-        xQueue.push ( x );
-        yQueue.push ( y - 1 );
-        xQueue.push ( x );
-        yQueue.push ( y + 1 );
-      }
-    }
-  }
-  ROS_DEBUG_STREAM("computeExplorationTransform: After first looop");
-  // Now go through the coordinates in the queue
-  int xVal, yVal;
-  ROS_DEBUG_STREAM("computeExplorationTransform: before while loop");
-  while ( !xQueue.empty() )
-  {
-    xVal = xQueue.front();
-    yVal = yQueue.front();
-    xQueue.pop();
-    yQueue.pop();
-    if ( xVal > 0 && xVal < width - 1 && yVal > 0 && yVal < height - 1 && isWalkable ( xVal, yVal ) )
-    {
-      // Get own cost and the cost of the 8 neighbor cells (neighbors plus the cost to go there)
-      float value = map->getValue ( xVal, yVal );
-      float value_u = map->getValue ( xVal, yVal - 1 ) + 1;
-      float value_d = map->getValue ( xVal, yVal + 1 ) + 1;
-      float value_l = map->getValue ( xVal - 1, yVal ) + 1;
-      float value_r = map->getValue ( xVal + 1, yVal ) + 1;
-      float value_ur = map->getValue ( xVal + 1, yVal - 1 ) + 1.4142;
-      float value_ul = map->getValue ( xVal - 1, yVal - 1 ) + 1.4142;
-      float value_ll = map->getValue ( xVal - 1, yVal + 1 ) + 1.4142;
-      float value_lr = map->getValue ( xVal + 1, yVal + 1 ) + 1.4142;
-      float min1 = value_u < value_d ? value_u : value_d;
-      float min2 = value_l < value_r ? value_l : value_r;
-      float min3 = value_ur < value_ul ? value_ur : value_ul;
-      float min4 = value_ll < value_lr ? value_ll : value_lr;
-      float min12 = min1 < min2 ? min1 : min2;
-      float min34 = min3 < min4 ? min3 : min4;
-      float min = min12 < min34 ? min12 : min34;
-      float newVal = min + m_SafePathWeight * m_CostTransform->getValue( xVal, yVal );
-      if ( value > newVal )
-      {
-        // Cost is lower then the currently known cost: Reduce cost here
-        map->setValue ( xVal, yVal, newVal );
-        // Add the neighbours that might profit in the queue
-        if ( map->getValue ( xVal, yVal + 1 ) > newVal + 1 )
-        {
-          xQueue.push ( xVal );
-          yQueue.push ( yVal + 1 );
-        }
-        if ( map->getValue ( xVal, yVal - 1 ) > newVal + 1 )
-        {
-          xQueue.push ( xVal );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal + 1, yVal ) > newVal + 1 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal );
-        }
-        if ( map->getValue ( xVal - 1, yVal ) > newVal + 1 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal );
-        }
-        if ( map->getValue ( xVal + 1, yVal - 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal - 1, yVal - 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal + 1, yVal + 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal + 1 );
-        }
-        if ( map->getValue ( xVal - 1, yVal + 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal + 1 );
-        }
-      }
-    }
-  }
-  ROS_DEBUG_STREAM("computeExplorationTransform: after exploration transform");
-}
-
-
-vector<Eigen::Vector2i> Explorer::sampleWaypointsFromPath ( std::vector<Eigen::Vector2i> pathPoints, float threshold )
-{
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return pathPoints;
-  }
-  if ( pathPoints.size() < 3 ) {
-    return pathPoints;
-  }
-
-  computeObstacleTransform();
-
-  vector<Eigen::Vector2i> simplifiedPath;
-  simplifiedPath.reserve( pathPoints.size() );
-
-  Eigen::Vector2i lastAddedPoint = pathPoints[0];
-  simplifiedPath.push_back ( lastAddedPoint );
-
-  for ( unsigned int i = 1; i < pathPoints.size() - 1; i++ )
-  {
-    double distanceToNextPoint = map_tools::distance(lastAddedPoint, pathPoints.at(i));
-    double obstacleDistanceLastAddedPoint = m_ObstacleTransform->getValue ( lastAddedPoint.x(), lastAddedPoint.y() );
-    double obstacleDistancePossibleNextPoint = m_ObstacleTransform->getValue ( pathPoints[i].x(), pathPoints[i].y() );
-    if (( distanceToNextPoint >= obstacleDistanceLastAddedPoint*threshold ) ||
-        ( distanceToNextPoint >= obstacleDistancePossibleNextPoint*threshold )  )
-    {
-      simplifiedPath.push_back ( pathPoints[i] );
-      lastAddedPoint = pathPoints[i];
-    }
-  }
-  simplifiedPath.push_back ( pathPoints[pathPoints.size() - 1] );
-  return simplifiedPath;
-}
-
-
-std::vector<Eigen::Vector2i> Explorer::getPath(bool& success)
-{
-  success = false;
-  
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return vector<Eigen::Vector2i>();
-  }
-  
-  if ( m_DesiredDistance > 0 ) {
-    // we are actually performing an exploration since the target
-    // is a region.
-      ROS_ERROR_STREAM("Desired Distance > 0: Executing getExplorationTransformPath");
-    return getExplorationTransformPath( success );
-  }
-  ROS_DEBUG_STREAM("Computing Path Transform");
-  computePathTransform();
-  ROS_DEBUG_STREAM("Finished Path Transform");
- 
-  vector<Eigen::Vector2i> path;
-
-  int x = m_Start.x();
-  int y = m_Start.y();
-
-  int width = m_OccupancyMap->width();
-  int height = m_OccupancyMap->height();
-
-  //special case: start and end point are equal, return single waypoint
-  if ( map_tools::distance( m_Start, m_Target ) < 2.0 )
-  {
-    success = true;
-    path.push_back ( Eigen::Vector2i( m_Start.x(), m_Start.y() ) );
-    return path;
-  }
-
-  while ( x != m_Target.x() || y != m_Target.y() )
-  {
-    path.push_back ( Eigen::Vector2i( x, y ) );
-    int minPosX = x;
-    int minPosY = y;
-    double min = m_PathTransform->getValue ( x, y );
-
-    if ( ( x <= 1 ) || ( y <= 1 ) || ( x >= width-1 ) || ( y >= height-1 ) )
-    {
-      ROS_ERROR( "Out of map bounds" );
-      return vector<Eigen::Vector2i>();
-    }
-
-    for ( int i = -1; i <= 1; i++ )
-    {
-      for ( int j = -1; j <= 1; j++ )
-      {
-        double pt = m_PathTransform->getValue ( x + i, y + j );
-        if ( pt < min )
-        {
-          min = pt;
-          minPosX = x + i;
-          minPosY = y + j;
-        }
-      }
-    }
-    if ( minPosX == x && minPosY == y )
-    {
-      ROS_WARN( "Target is unreachable!" );
-      return vector<Eigen::Vector2i>();
-    }
-    else
-    {
-      x = minPosX;
-      y = minPosY;
-    }
-  }
-  success = true;
-
-  return path;
-}
-
-vector<Eigen::Vector2i> Explorer::getExplorationTransformPath(bool& success)
-{
-  success = false;
-
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return vector<Eigen::Vector2i>();
-  }
-  
-  ROS_DEBUG_STREAM("Exploration Transform: Before obstacle transform");
-  computeObstacleTransform();
-  ROS_DEBUG_STREAM("Exploration Transform: Before exploration transform");
-  computeExplorationTransform();
-  ROS_DEBUG_STREAM("Exploration Transform: after obstacle transform");
-  
-  //check if we are already there
-  if ( m_TargetMap->getValue ( m_Start.x(), m_Start.y() ) )
-  {
-    success = true;
-    vector<Eigen::Vector2i> path;
-    path.push_back ( Eigen::Vector2i ( m_Start.x(), m_Start.y() ) );
-    return path;
-  }
-
-  int width = m_OccupancyMap->width();
-  int height = m_OccupancyMap->height();
-
-  vector<Eigen::Vector2i> path;
-  int x = m_Start.x();
-  int y = m_Start.y();
-
-  if ( m_ObstacleTransform->getValue ( x, y ) < m_MinAllowedObstacleDistance )
-  {
-    // robot got stuck!
-    // find way out using ObstacleTransform...
-    int maxPosX = x;
-    int maxPosY = y;
-
-    if ( ( x <= 1 ) || ( y <= 1 ) || ( x >= width-1 ) || ( y >= height-1 ) )
-    {
-      ROS_ERROR( "Out of map bounds" );
-      return vector<Eigen::Vector2i>();
-    }
-
-    while ( m_ObstacleTransform->getValue ( maxPosX, maxPosY ) < m_MinAllowedObstacleDistance )
-    {
-      double max = m_ObstacleTransform->getValue ( x, y );
-      for ( int i = -1; i <= 1; i++ )
-      {
-        for ( int j = -1; j <= 1; j++ )
-        {
-          double pt = m_ObstacleTransform->getValue ( x + i, y + j );
-          if ( pt > max )
-          {
-            max = pt;
-            maxPosX = x + i;
-            maxPosY = y + j;
-          }
-        }
-      }
-      if ( maxPosX == x && maxPosY == y ) // no ascentFound
-      {
-        break;
-      }
-      else
-      {
-        path.push_back ( Eigen::Vector2i ( maxPosX, maxPosY ) );
-        x = maxPosX;
-        y = maxPosY;
-      }
-    }
-  }
-  // now path is "free"
-  bool descentFound = true;
-  while ( descentFound )
-  {
-    descentFound = false;
-    int minPosX = x;
-    int minPosY = y;
-    double min = m_ExplorationTransform->getValue ( x, y );
-    if ( ( x <= 1 ) || ( y <= 1 ) || ( x >= width-1 ) || ( y >= height-1 ) )
-    {
-      ROS_ERROR( "Out of map bounds" );
-      return vector<Eigen::Vector2i>();
-    }
-
-    for ( int i = -1; i <= 1; i++ )
-    {
-      for ( int j = -1; j <= 1; j++ )
-      {
-        double pt = m_ExplorationTransform->getValue ( x + i, y + j );
-        if ( pt < min )
-        {
-          min = pt;
-          minPosX = x + i;
-          minPosY = y + j;
-        }
-      }
-    }
-    if ( minPosX == x && minPosY == y ) // no descentFound
-    {
-      descentFound = false;
-    }
-    else
-    {
-      descentFound = true;
-      path.push_back ( Eigen::Vector2i ( minPosX, minPosY ) );
-      x = minPosX;
-      y = minPosY;
-    }
-  }
-  success = true;
-
-  ROS_INFO_STREAM("Exploration Transform: End of function");
-  return path;
-
-#if 0  
-  // START P2AT HACK
-  vector< Eigen::Vector2i > newPath;
-  for ( unsigned start=0; start<path.size()-1; ++start )
-  {
-    int maxVal = start+1;
-    for ( unsigned end=start+1; end<path.size(); ++end )
-    {
-      bool ok = true;
-      // draw bresenham line and check wether an object is within maximum allowed distance
-      // THANKS TO WIKIPEDIA 
-      int x, y, t, dx, dy, incx, incy, pdx, pdy, ddx, ddy, es, el, err;
-      /* Entfernung in beiden Dimensionen berechnen */
-      dx = path[end].x() - path[start].x();
-      dy = path[end].y() - path[start].y();
-      /* Vorzeichen des Inkrements bestimmen */
-      incx = (dx > 0) ? 1 : (dx < 0) ? -1 : 0;
-      incy = (dy > 0) ? 1 : (dy < 0) ? -1 : 0;
-      if(dx<0) dx = -dx;
-      if(dy<0) dy = -dy;
-      /* feststellen, welche Entfernung größer ist */
-      if (dx>dy)
-      {
-        /* x ist schnelle Richtung */
-        pdx=incx; pdy=0;    /* pd. ist Parallelschritt */
-        ddx=incx; ddy=incy; /* dd. ist Diagonalschritt */
-        es =dy;   el =dx;   /* Fehlerschritte schnell, langsam */
-      } else
-      {
-        /* y ist schnelle Richtung */
-        pdx=0;    pdy=incy; /* pd. ist Parallelschritt */
-        ddx=incx; ddy=incy; /* dd. ist Diagonalschritt */
-        es =dx;   el =dy;   /* Fehlerschritte schnell, langsam */
-      }
-      /* Initialisierungen vor Schleifenbeginn */
-      x = path[start].x();
-      y = path[start].y();
-      err = el/2;
-      /* Pixel berechnen */
-      for(t=0; t<el; ++t) /* t zaehlt die Pixel, el ist auch Anzahl */
-      {
-        /* Aktualisierung Fehlerterm */
-        err -= es; 
-        if(err<0)
-        {
-          /* Fehlerterm wieder positiv (>=0) machen */
-          err += el;
-          /* Schritt in langsame Richtung, Diagonalschritt */
-          x += ddx;
-          y += ddy;
-        } else
-        {
-          /* Schritt in schnelle Richtung, Parallelschritt */
-          x += pdx;
-          y += pdy;
-        }
-      
-        // --- start: check if obstacle around
-        if ( m_ObstacleTransform->getValue ( x, y ) < m_MinAllowedObstacleDistance )
-        {
-          ok = false;
-          break;
-        }
-        // --- end  : check if obstacle around
-      } // Pixel berechnen
-      
-      if ( ok )
-      {
-        maxVal = end;
-      }
-    } // for: inner
-    newPath.push_back( path[maxVal] );
-    start = maxVal; // incremented by foor loop to max+1
-  } // for: outer
-  // END: P2AT HACK
-
-  success = true;
-  return newPath;
-#endif
-}
-
-
-bool Explorer::getNearestFrontier ( Eigen::Vector2i& nextFrontier )
-{
-  if ( !m_OccupancyMap) {
-    ROS_ERROR( "Missing occupancy map. Aborting." );
-    return false;
-  }
-
-  computeFrontierMap();
-  computeDrivingDistanceTransform();
-
-  bool found = false;
-  int distXPos = -1;
-  int distYPos = -1;
-  double dist = 10000000;
-  for ( int y = 0; y < m_TargetMap->height(); y++ )
-  {
-    for ( int x = 0; x < m_TargetMap->width(); x++ )
-    {
-      if ( m_TargetMap->getValue ( x, y ) == 1 && m_DrivingDistanceTransform->getValue ( x, y ) < 999999 )
-      {
-        if ( m_DrivingDistanceTransform->getValue ( x, y ) < dist )
-        {
-          found = true;
-          dist = m_DrivingDistanceTransform->getValue ( x, y );
-          distXPos = x;
-          distYPos = y;
-        }
-      }
-    }
-  }
-  if ( found )
-  {
-    nextFrontier.x() =  distXPos;
-    nextFrontier.y() =  distYPos;
-    return true;
-  }
-  else
-  {
-    return false;
-  }
-}
-
-
-
-// HELPERS //////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-void Explorer::distanceFloodFill ( GridMap<double>* map, Eigen::Vector2i start )
-{
-  if ( !map ) {
-    ROS_ERROR( "Received 0-pointer!" );
-  }
-
-  computeObstacleTransform();
-
-  int width = map->width();
-  int height = map->height();
-  map->fill ( MAX_DISTANCE );
-
-  int fromX = start.x();
-  int fromY = start.y();
-  map->setValue ( fromX, fromY, 0 );
-
-  queue<int> xQueue;
-  queue<int> yQueue;
-  xQueue.push ( fromX + 1 );
-  yQueue.push ( fromY );
-  xQueue.push ( fromX - 1 );
-  yQueue.push ( fromY );
-  xQueue.push ( fromX );
-  yQueue.push ( fromY - 1 );
-  xQueue.push ( fromX );
-  yQueue.push ( fromY + 1 );
-  int xVal, yVal;
-  while ( !xQueue.empty() )
-  {
-    xVal = xQueue.front();
-    yVal = yQueue.front();
-    xQueue.pop();
-    yQueue.pop();
-    bool isFree = (m_OccupancyMap->getValue ( xVal, yVal ) < UNKNOWN  ||
-                   m_OccupancyMap->getValue ( xVal, yVal ) != NOT_SEEN_YET); // only fill free cells
-    bool isSafe = m_ObstacleTransform->getValue ( xVal, yVal ) > m_MinAllowedObstacleDistance;
-    if ( xVal > 0 && xVal < width - 1 && yVal > 0 && yVal < height - 1 && isFree && isSafe )
-    {
-      float value = map->getValue ( xVal, yVal );
-      float value_u = map->getValue ( xVal, yVal - 1 ) + 1;
-      float value_d = map->getValue ( xVal, yVal + 1 ) + 1;
-      float value_l = map->getValue ( xVal - 1, yVal ) + 1;
-      float value_r = map->getValue ( xVal + 1, yVal ) + 1;
-
-      float value_ur = map->getValue ( xVal + 1, yVal - 1 ) + 1.4142;
-      float value_ul = map->getValue ( xVal - 1, yVal - 1 ) + 1.4142;
-      float value_ll = map->getValue ( xVal - 1, yVal + 1 ) + 1.4142;
-      float value_lr = map->getValue ( xVal + 1, yVal + 1 ) + 1.4142;
-
-      float min1 = value_u < value_d ? value_u : value_d;
-      float min2 = value_l < value_r ? value_l : value_r;
-      float min3 = value_ur < value_ul ? value_ur : value_ul;
-      float min4 = value_ll < value_lr ? value_ll : value_lr;
-      float min12 = min1 < min2 ? min1 : min2;
-      float min34 = min3 < min4 ? min3 : min4;
-      float min = min12 < min34 ? min12 : min34;
-      float newVal = min;
-      if ( value > newVal )
-      {
-        map->setValue ( xVal, yVal, newVal );
-        if ( map->getValue ( xVal, yVal + 1 ) > newVal + 1 )
-        {
-          xQueue.push ( xVal );
-          yQueue.push ( yVal + 1 );
-        }
-        if ( map->getValue ( xVal, yVal - 1 ) > newVal + 1 )
-        {
-          xQueue.push ( xVal );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal + 1, yVal ) > newVal + 1 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal );
-        }
-        if ( map->getValue ( xVal - 1, yVal ) > newVal + 1 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal );
-        }
-        if ( map->getValue ( xVal + 1, yVal - 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal - 1, yVal - 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal - 1 );
-        }
-        if ( map->getValue ( xVal + 1, yVal + 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal + 1 );
-          yQueue.push ( yVal + 1 );
-        }
-        if ( map->getValue ( xVal - 1, yVal + 1 ) > newVal + 1.4142 )
-        {
-          xQueue.push ( xVal - 1 );
-          yQueue.push ( yVal + 1 );
-        }
-      }
-    }
-  }
-}
-
-
-// Implementation taken from http://www.cs.cmu.edu/~cil/vnew.html
-double* Explorer::distanceTransform1D ( double *f, int n )
-{
-  //int width = m_OccupancyMap->width();
-  //int height = m_OccupancyMap->height();
-  //double maxDistance = height > width ? height : width;
-
-  double *d = new double[n];
-  int *v = new int[n];
-  double *z = new double[n+1];
-  int k = 0;
-  v[0] = 0;
-  z[0] = -INT_MAX;
-  z[1] = INT_MAX;
-  for ( int q = 1; q <= n-1; q++ )
-  {
-    double s  = ( ( f[q]+ ( q*q ) )- ( f[v[k]]+ ( v[k]*v[k] ) ) ) / ( 2*q-2*v[k] );
-    while ( s <= z[k] )
-    {
-      k--;
-      s  = ( ( f[q]+ ( q*q ) )- ( f[v[k]]+ ( v[k]*v[k] ) ) ) / ( 2*q-2*v[k] );
-    }
-    k++;
-    v[k] = q;
-    z[k] = s;
-    z[k+1] = INT_MAX;
-  }
-
-  k = 0;
-  for ( int q = 0; q <= n-1; q++ )
-  {
-    while ( z[k+1] < q )
-      k++;
-    d[q] = ( ( q-v[k] ) * ( q-v[k] ) ) + f[v[k]];
-  }
-
-  delete [] v;
-  delete [] z;
-  return d;
-}
diff --git a/homer_nav_libs/src/Math/Line2D.cpp b/homer_nav_libs/src/Math/Line2D.cpp
deleted file mode 100644
index 89cd5310..00000000
--- a/homer_nav_libs/src/Math/Line2D.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/*******************************************************************************
- *  Line2D.cpp
- *
- *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- *  Information on Code Review state:
- *  Author: SM; DevelTest: Date; Reviewer: Initials; Review: Date; State: NOK
- *
- *  Additional information:
- *  $Id: Line2D.cpp 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#include <iostream>
-#include <sstream>
-
-#include <homer_nav_libs/Math/Line2D.h>
-#include <homer_nav_libs/Math/vec2.h>
-
-#define THIS Line2D
-
-float THIS::gradient() const
-{
-  float gradient = 10000000.0;
-  if ( m_Vec[0] != 0.0 )
-  {
-    gradient = m_Vec[1]/m_Vec[0];
-  }
-  return gradient;
-}
-
-std::vector< Point2D > THIS::vertices ( unsigned substeps )
-{
-  unsigned steps = substeps+2;
-  std::vector<Point2D> myVertices ( steps );
-  for ( unsigned i=0; i<steps; i++ )
-  {
-    float t= float ( i ) / float ( steps-1 );
-    myVertices[i] = m_Start + t*m_Vec;
-  }
-  return myVertices;
-}
-
-Point2D THIS::getClosestPoint ( Point2D point ) const
-{
-  float t = ( point-m_Start ) * m_Vec;
-  t /= m_Vec * m_Vec;
-  if ( t > 1.0 )
-  {
-    t = 1.0;
-  }
-  else if ( t < 0.0 )
-  {
-    t = 0.0;
-  }
-  Point2D pointOnLine = m_Start + ( t * m_Vec );
-  return pointOnLine;
-}
-
-Point2D THIS::getIntersectionPoint ( Line2D line ) const
-{
-  Point2D intersecPoint;
-  double det1 = m_Vec.x() * ( -line.vec().y() ) - ( -line.vec().x() ) * m_Vec.y();
-  // lines are not parallel
-  if ( det1 != 0 )
-  {
-    CVec2 startToStart = line.start() -m_Start;
-    // calculate intersection
-    double lambda = ( startToStart.x() * ( -line.vec().y() ) - ( -line.vec().x() ) * startToStart.y() ) / det1;
-    intersecPoint = m_Start + lambda* m_Vec;
-  }
-
-  return intersecPoint;
-}
-
-float THIS::getIntersectionPointParameter ( Line2D line ) const
-{
-  double lambda = 0.0;
-  double det1 = m_Vec.x() * ( -line.vec().y() ) - ( -line.vec().x() ) * m_Vec.y();
-  // lines are not parallel
-  if ( det1 != 0 )
-  {
-    CVec2 startToStart = line.start() -m_Start;
-    // calculate intersection
-    lambda = ( startToStart.x() * ( -line.vec().y() ) - ( -line.vec().x() ) * startToStart.y() ) / det1;
-  }
-
-  return lambda;
-}
-
-std::string THIS::toString() const
-{
-  std::ostringstream str;
-//   str << "Startpoint: " << m_Start.x() << " " << m_Start.y() << " Endpoint: " << end().x() << " " << end().y() <<
-//   " Vector: " << m_Vec.x() << " " << m_Vec.y() << " ";
-  str << m_Start.x() << " " << m_Start.y() << std::endl << end().x() << " " << end().y() << std::endl;
-  return str.str();
-}
-
diff --git a/homer_nav_libs/src/Math/Math.cpp b/homer_nav_libs/src/Math/Math.cpp
deleted file mode 100644
index 5ad74fc3..00000000
--- a/homer_nav_libs/src/Math/Math.cpp
+++ /dev/null
@@ -1,135 +0,0 @@
-/*******************************************************************************
- *  Math.cpp
- *
- *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- *  Additional information:
- *  $Id: $ 
- *******************************************************************************/
-
-#include <limits.h>
-#include <homer_nav_libs/Math/Math.h>
-#include <math.h>
-
-#include <homer_nav_libs/Math/vec2.h>
-
-#define THIS Math
-
-THIS::THIS()
-{
-}
-
-THIS::~THIS()
-{
-}
-
-float THIS::meanAngle( const std::vector<float>& angles )
-{
-  //calculate vectors from angles
-  CVec2 vectorSum(0,0);
-  for ( unsigned i=0; i<angles.size(); i++ )
-  {
-    vectorSum = vectorSum + CVec2( cos( angles[i] ), sin ( angles[i] ) );
-  }
-  //return vectorSum.getAngle( CVec2(1,0) );
-  if ( vectorSum.magnitude() == 0 ) { return 0; }
-  return atan2( vectorSum.y(), vectorSum.x() );
-}
-
-
-float THIS::meanAngleWeighted( const std::vector< WeightedValue >& weightedAngles )
-{
-  //calculate vectors from angles
-  CVec2 vectorSum(0,0);
-  for ( unsigned i=0; i<weightedAngles.size(); i++ )
-  {
-    vectorSum = vectorSum + weightedAngles[i].weight * CVec2( cos( weightedAngles[i].value ), sin ( weightedAngles[i].value ) );
-  }
-  //return vectorSum.getAngle( CVec2(1,0) );
-  if ( vectorSum.magnitude() == 0 ) { return 0; }
-  return atan2( vectorSum.y(), vectorSum.x() );
-}
-
-
-float THIS::angleVariance( float meanAngle, const std::vector<float>& angles )
-{
-  float quadSum=0;
-  for( unsigned i=0; i < angles.size(); i++ )
-  {
-    float turnAngle=minTurnAngle( angles[i], meanAngle );
-    quadSum += turnAngle*turnAngle;
-  }
-  return quadSum / float ( angles.size() );
-}
-
-
-float THIS::minTurnAngle( float angle1, float angle2 )
-{
-/*  CVec2 vector1( cos( angle1 ), sin ( angle1 ) );
-  CVec2 vector2( cos( angle2 ), sin ( angle2 ) );
-  return vector1.getAngle( vector2 );
-  */
-  angle1 *= 180.0/M_PI;
-  angle2 *= 180.0/M_PI;
-  //if(angle1 < 0) angle1 += M_PI * 2;
-  //if(angle2 < 0) angle2 += M_PI * 2;
-  int diff= angle2 - angle1;
-  diff = (diff + 180) % 360 - 180;
-
-  //float sign=1;
-  //if ( diff < 0 ) { sign=-1; }
-  //minimal turn angle:
-  //if the absolute difference is above 180°, calculate the difference in other direction
-  //if ( fabs(diff) > M_PI ) {
-  //  diff = 2*M_PI - fabs(diff);
-  //  diff *= sign;
-  //}
-
-  float ret = static_cast<double>(diff) * M_PI/180.0;
-  return ret;
-}
-
-Point2D THIS::center( std::vector<Point2D>& points )
-{
-  double numPoints = double( points.size() );
-  double sumX=0, sumY=0;
-  for( unsigned i=0; i < points.size(); i++ )
-  {
-    sumX += points[i].x();
-    sumY += points[i].y();
-  }
-  return Point2D( sumX / numPoints, sumY / numPoints );
-}
-
-
-double THIS::randomGauss(float variance)
-{
-  if (variance < 0) {
-    variance = -variance;
-  }
-  double x1, x2, w, y1;
-  do {
-    x1 = 2.0 * random01() - 1.0;
-    x2 = 2.0 * random01() - 1.0;
-    w = x1 * x1 + x2 * x2;
-  } while ( w >= 1.0 );
-
-  w = sqrt((-2.0 * log(w)) / w);
-  y1 = x1 * w;
-  // now y1 is uniformly distributed
-  return sqrt(variance) * y1;
-}
-
-double THIS::random01(unsigned long init)
-{
-  static unsigned long n;
-  if (init > 0) {
-    n = init;
-  }
-  n = 1664525 * n + 1013904223;
-  // create double from unsigned long
-  return (double)(n/2) / (double)LONG_MAX;
-}
-
-#undef THIS
diff --git a/homer_nav_libs/src/Math/Point2D.cpp b/homer_nav_libs/src/Math/Point2D.cpp
deleted file mode 100644
index 13c321d7..00000000
--- a/homer_nav_libs/src/Math/Point2D.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-/*******************************************************************************
- *  Point2D.cpp
- *
- *  (C) 2008 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- *  Additional information:
- *  $Id: $ 
- *******************************************************************************/
-
-#include <homer_nav_libs/Math/Point2D.h>
-
-#define THIS Point2D 
-
-float THIS::getPolarAngle () const
-{
-  float angle = atan ( m_Y /m_X );
-  if ( m_X < 0 )
-  {
-    angle = - ( M_PI - angle );
-  }
-  while ( angle >= M_PI )
-  {
-    angle -= 2*M_PI;
-  }
-  while ( angle < -M_PI )
-  {
-    angle += 2*M_PI;
-  }
-  return angle;
-}
-
-#undef THIS
diff --git a/homer_nav_libs/src/Math/Pose.cpp b/homer_nav_libs/src/Math/Pose.cpp
deleted file mode 100644
index 129d123a..00000000
--- a/homer_nav_libs/src/Math/Pose.cpp
+++ /dev/null
@@ -1,117 +0,0 @@
-/*******************************************************************************
- *  Pose.cpp
- *
- *  (C) 2006 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- *  $Id: Pose.cpp 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#include <cmath>
-
-#include <homer_nav_libs/Math/Pose.h>
-#include <homer_nav_libs/Math/Transformation2D.h>
-
-using namespace std;
-
-
-#define THIS Pose
-
-THIS::THIS(float x, float y, float theta) : Point2D(x, y) {
-  m_Theta = theta;
-}
-
-THIS::THIS() {
-  m_Theta = 0.0;
-}
-
-THIS::~THIS() {
-}
-
-float THIS::theta() const {
-  return m_Theta;
-}
-
-void THIS::setTheta(float theta) {
-  m_Theta = theta;
-}
-
-Pose THIS::operator+ ( const Transformation2D& transformation ) const {
-  float x, y, theta;
-  x = m_X + transformation.x();
-  y = m_Y + transformation.y();
-  theta = m_Theta + transformation.theta();
-  while (theta >= M_PI) theta -= 2*M_PI;
-  while (theta < -M_PI) theta += 2*M_PI;
-
-	return Pose(x, y, theta);
-}
-
-Pose THIS::operator- ( const Transformation2D& transformation ) const {
-  float x, y, theta;
-  x = m_X - transformation.x();
-  y = m_Y - transformation.y();
-  theta = m_Theta - transformation.theta();
-  while (theta >= M_PI) theta -= 2*M_PI;
-  while (theta < -M_PI) theta += 2*M_PI;
-
-	return Pose(x, y, theta);
-}
-
-Transformation2D THIS::operator- ( const Pose& pose ) const {
-  float x, y, theta;
-  x = m_X - pose.x();
-  y = m_Y - pose.y();
-
-  float s1, s2;
-  if (m_Theta > pose.theta()) {
-    s1 = -( 2 * M_PI - m_Theta + pose.theta());
-    s2 = m_Theta - pose.theta();
-  } else {
-    s1 = 2 * M_PI - pose.theta() + m_Theta;
-    s2 = -(pose.theta() - m_Theta);
-  }
-  if (fabs(s1) > fabs(s2)) {
-    theta = s2;
-  } else {
-    theta = s1;
-  }
-  while (theta >= M_PI) theta -= 2*M_PI;
-  while (theta < -M_PI) theta += 2*M_PI;
-
-	return Transformation2D(x, y, theta);
-}
-
-Pose THIS::interpolate(const Pose& referencePose, float t) const {
-
-  float newX = m_X + t * (referencePose.x() - m_X);
-  float newY = m_Y + t * (referencePose.y() - m_Y);
-
-  // Calculate mean angle by adding the vem_Thetaors in unit circle
-  float x1 = cosf(m_Theta);
-  float y1 = sinf(m_Theta);
-  float x2 = cosf(referencePose.theta());
-  float y2 = sinf(referencePose.theta());
-  float newTheta = atan2 (y1*(1-t)+y2*t, x1*(1-t)+x2*t);
-
-  return Pose(newX, newY, newTheta);
-}
-
-//THIS::THIS( ExtendedInStream& extStrm )
-//{
-//  char version;
-//  extStrm >> version;
-//  extStrm >> m_X;
-//  extStrm >> m_Y;
-//  extStrm >> m_Theta;
-//}
-
-//void THIS::storer( ExtendedOutStream& extStrm ) const
-//{
-//  char version=10;
-//  extStrm << version;
-//  extStrm << m_X;
-//  extStrm << m_Y;
-//  extStrm << m_Theta;
-//}
-
diff --git a/homer_nav_libs/src/Math/Transformation2D.cpp b/homer_nav_libs/src/Math/Transformation2D.cpp
deleted file mode 100644
index f60629cd..00000000
--- a/homer_nav_libs/src/Math/Transformation2D.cpp
+++ /dev/null
@@ -1,308 +0,0 @@
-/*******************************************************************************
- *  Transformation2D.cpp
- *
- *  (C) 2008 AG Aktives Sehen <agas@uni-koblenz.de>
- *           Universitaet Koblenz-Landau
- *
- * $Id: Transformation2D.cpp 44313 2011-04-06 22:46:28Z agas $
- *******************************************************************************/
-
-#include <homer_nav_libs/Math/Transformation2D.h>
-
-#include <cmath>
-#include <vector>
-#include <iostream>
-#include <sstream>
-#include <homer_nav_libs/Math/vec2.h> // TODO das sieht nach baselib aus ggf. durch baselib ersetzen
-#include <homer_nav_libs/Math/mat2.h> // TODO das sieht nach baselib aus ggf. durch baselib ersetzen
-#include <homer_nav_libs/Math/Point2D.h>
-#include <homer_nav_libs/Math/Line2D.h>
-
-#define THIS Transformation2D
-#define BASE CVec2
-
-THIS::Transformation2D() : BASE()
-{
-  m_Theta = 0.0;
-}
-
-THIS::Transformation2D ( double x, double y, double theta ) : BASE ( x,y )
-{
-  m_Theta = theta;
-}
-
-THIS::Transformation2D ( const CVec2& vec, double theta ) : BASE ( vec )
-{
-  m_Theta = theta;
-}
-
-THIS::~Transformation2D()
-{
-}
-
-void THIS::set ( double x, double y, double theta )
-{
-  m_X = x;
-  m_Y = y;
-  m_Theta = theta;
-}
-
-double THIS::theta() const
-{
-  return m_Theta;
-}
-
-Transformation2D THIS::operator+ ( Transformation2D t ) const
-{
-  double theta = m_Theta + t.theta();
-  // TODO comment only for scan matching test
-//   while ( theta >= M_PI ) theta -= 2*M_PI;
-//   while ( theta < -M_PI ) theta += 2*M_PI;
-  return Transformation2D ( m_X + t.x(), m_Y + t.y(), theta );
-}
-
-Transformation2D& THIS::operator+= ( Transformation2D t )
-{
-  m_X += t.x();
-  m_Y += t.y();
-  m_Theta += t.theta();
-  // TODO comment only for scan matching test
-//   while ( m_Theta >= M_PI ) m_Theta -= 2*M_PI;
-//   while ( m_Theta < -M_PI ) m_Theta += 2*M_PI;
-  return ( *this );
-}
-
-Transformation2D THIS::operator- ( Transformation2D t ) const
-{
-  float s1, s2, theta;
-  if ( m_Theta > t.theta() )
-  {
-    s1 = - ( 2 * M_PI - m_Theta + t.theta() );
-    s2 = m_Theta - t.theta();
-  }
-  else
-  {
-    s1 = 2 * M_PI - t.theta() + m_Theta;
-    s2 = - ( t.theta() - m_Theta );
-  }
-  if ( fabs ( s1 ) > fabs ( s2 ) )
-  {
-    theta = s2;
-  }
-  else
-  {
-    theta = s1;
-  }
-  while ( theta >= M_PI ) theta -= 2*M_PI;
-  while ( theta < -M_PI ) theta += 2*M_PI;
-//   double theta = m_Theta - t.theta();
-//   while ( theta >= M_PI ) theta -= 2*M_PI;
-//   while ( theta < -M_PI ) theta += 2*M_PI;
-  return Transformation2D ( m_X - t.x(), m_Y - t.y(), theta );
-}
-
-Transformation2D& THIS::operator-= ( Transformation2D t )
-{
-  m_X -= t.x();
-  m_Y -= t.y();
-
-  float s1, s2, theta;
-  if ( m_Theta > t.theta() )
-  {
-    s1 = - ( 2 * M_PI - m_Theta + t.theta() );
-    s2 = m_Theta - t.theta();
-  }
-  else
-  {
-    s1 = 2 * M_PI - t.theta() + m_Theta;
-    s2 = - ( t.theta() - m_Theta );
-  }
-  if ( fabs ( s1 ) > fabs ( s2 ) )
-  {
-    theta = s2;
-  }
-  else
-  {
-    theta = s1;
-  }
-  while ( theta >= M_PI ) theta -= 2*M_PI;
-  while ( theta < -M_PI ) theta += 2*M_PI;
-  m_Theta = theta;
-
-  return ( *this );
-
-//   m_X -= t.x();
-//   m_Y -= t.y();
-//   m_Theta -= t.theta();
-//   while ( m_Theta >= M_PI ) m_Theta -= 2*M_PI;
-//   while ( m_Theta < -M_PI ) m_Theta += 2*M_PI;
-//   return ( *this );
-}
-
-Transformation2D THIS::operator* ( float factor ) const
-{
-
-  double theta = m_Theta * factor;
-  while ( theta >= M_PI ) theta -= 2*M_PI;
-  while ( theta < -M_PI ) theta += 2*M_PI;
-  return Transformation2D ( m_X * factor, m_Y * factor, theta );
-}
-
-Transformation2D& THIS::operator*= ( float factor )
-{
-  m_X *= factor;
-  m_Y *= factor;
-  m_Theta *= factor;
-  while ( m_Theta >= M_PI ) m_Theta -= 2*M_PI;
-  while ( m_Theta < -M_PI ) m_Theta += 2*M_PI;
-  return ( *this );
-}
-
-
-Transformation2D THIS::operator/ ( float factor ) const
-{
-  double theta = m_Theta / factor;
-  return Transformation2D ( m_X / factor, m_Y / factor, theta );
-}
-
-Transformation2D& THIS::operator/= ( float factor )
-{
-  m_X /= factor;
-  m_Y /= factor;
-  m_Theta /= factor;
-  return ( *this );
-}
-
-bool THIS::operator== ( Transformation2D t ) const
-{
-  if ( t.x() == m_X && t.y() == m_Y && t.theta() == m_Theta )
-  {
-    return true;
-  }
-  else
-  {
-    return false;
-  }
-}
-
-bool THIS::operator!= ( Transformation2D t ) const
-{
-  return ! ( ( *this ) ==t );
-}
-
-bool THIS::operator<= ( Transformation2D t ) const
-{
-  return ( this->magnitude() <= t.magnitude() ) && ( m_Theta <= t.theta() );
-}
-
-bool THIS::operator>= ( Transformation2D t ) const
-{
-  return ( this->magnitude() >= t.magnitude() ) && ( m_Theta >= t.theta() );
-}
-
-bool THIS::operator< ( Transformation2D t ) const
-{
-  return ( m_X < t.x() ) || ( m_Y < t.y() ) || ( ( m_Theta < t.theta() ) && ( *this <= t ) );
-}
-
-bool THIS::operator> ( Transformation2D t ) const
-{
-  return ( m_X > t.x() ) || ( m_Y > t.y() ) || ( ( m_Theta > t.theta() ) && ( *this >= t ) );
-}
-
-Transformation2D THIS::abs() const
-{
-  return Transformation2D ( std::abs ( m_X ), std::abs ( m_Y ), std::abs ( m_Theta ) );
-}
-
-Transformation2D THIS::inverse() const
-{
-  return ( *this ) * ( -1.0 );
-}
-
-Point2D THIS::transform ( const Point2D& point ) const
-{
-  CMat2 rotMat = CMat2 ( m_Theta );
-  CVec2 transVec = CVec2 ( m_X, m_Y );
-  Point2D transformedPoint = rotMat * ( point );
-  transformedPoint += transVec;
-  return transformedPoint;
-}
-
-std::vector<Point2D> THIS::transform ( const std::vector<Point2D>& points ) const
-{
-  CMat2 rotMat = CMat2 ( m_Theta );
-  CVec2 transVec = CVec2 ( m_X, m_Y );
-  std::vector<Point2D> transformedPoints;
-  std::vector<Point2D>::const_iterator iter = points.begin();
-  while ( iter != points.end() )
-  {
-    Point2D currPoint = rotMat * ( *iter );
-    currPoint += transVec;
-    transformedPoints.push_back ( currPoint );
-    iter++;
-  }
-  return transformedPoints;
-}
-
-// // Reihenfolge rotation/translation vertauscht !!!
-// Point2D THIS::transform ( Point2D point ) const
-// {
-//   CMat2 rotMat = CMat2 ( m_Theta );
-//   CVec2 transVec = CVec2 ( m_X, m_Y );
-//   Point2D transformedPoint = point+transVec;
-//   transformedPoint = rotMat * point;
-//   return transformedPoint;
-// }
-//
-// // Reihenfolge rotation/translation vertauscht !!!
-// std::vector<Point2D> THIS::transform ( std::vector<Point2D> points ) const
-// {
-//   CMat2 rotMat = CMat2 ( m_Theta );
-//   CVec2 transVec = CVec2 ( m_X, m_Y );
-//   std::vector<Point2D> transformedPoints;
-//   std::vector<Point2D>::const_iterator iter = points.begin();
-//   while ( iter != points.end() )
-//   {
-//     Point2D currPoint = ( *iter )+ transVec;
-//     currPoint = rotMat * currPoint;
-//     transformedPoints.push_back ( currPoint );
-//     iter++;
-//   }
-//   return transformedPoints;
-// }
-
-Line2D THIS::transform ( const Line2D& line ) const
-{
-  CMat2 rotMat = CMat2 ( m_Theta );
-  CVec2 transVec = CVec2 ( m_X, m_Y );
-  Line2D transformedLine = Line2D ( rotMat * line.start() + transVec, rotMat * line.end() + transVec );
-  return transformedLine;
-}
-
-std::vector<Line2D> THIS::transform ( const std::vector<Line2D>& lines ) const
-{
-  //CMat2 rotMat = CMat2 ( m_Theta );
-  //CVec2 transVec = CVec2 ( m_X, m_Y );
-  std::vector<Line2D> transformedLines;
-  std::vector<Line2D>::const_iterator iter = lines.begin();
-  while ( iter != lines.end() )
-  {
-    transformedLines.push_back ( transform(*iter) );
-    iter++;
-  }
-  return transformedLines;
-}
-
-std::string THIS::toString() const
-{
-  std::ostringstream str;
-  str << "deltaX: " << m_X << ", deltaY: " << m_Y << ", deltaTheta: " << m_Theta;
-  return str.str();
-}
-
-
-
-#undef THIS
-#undef BASE
-
diff --git a/homer_nav_libs/src/SpeedControl/CMakeLists.txt b/homer_nav_libs/src/SpeedControl/CMakeLists.txt
deleted file mode 100644
index 154b60eb..00000000
--- a/homer_nav_libs/src/SpeedControl/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-set(SpeedControl_SRC
-  SpeedControl.cpp
-)
-
-add_library(SpeedControl ${SpeedControl_SRC})
diff --git a/homer_nav_libs/src/SpeedControl/SpeedControl.cpp b/homer_nav_libs/src/SpeedControl/SpeedControl.cpp
deleted file mode 100644
index c939197e..00000000
--- a/homer_nav_libs/src/SpeedControl/SpeedControl.cpp
+++ /dev/null
@@ -1,177 +0,0 @@
-#include <cmath>
-#include <iostream>
-
-#include <ros/ros.h>
-#include "SpeedControl.h"
-#include "tools/loadRosConfig.h"
-
-using namespace std;
-
-// Robot dimensions in m
-//       
-//       
-//  /-------------\  <-- MAX_X
-//  |      x      |
-//  |      |      |
-//  |      |      |
-//  | y-----      |
-//  |             |
-//  |    ROBOT    |
-//  |             |
-//  \-------------/  <-- MIN_X
-//  ^             ^
-//  |             |
-//  MAX_Y      MIN_Y
-//
-float ROBOT_MIN_X = -0.30;
-float ROBOT_MAX_X =  0.30;
-float ROBOT_MIN_Y = -0.27;
-float ROBOT_MAX_Y =  0.27;
-
-
-namespace {
-  Eigen::AlignedBox2f InnerDangerZone,
-        OuterDangerZone;
-  float InnerDangerZoneFactor,
-        OuterDangerZoneFactor;
-
-  inline Eigen::AlignedBox2f loadRect(const string& path)
-  {
-    pair<float, float> pX, pY;
-	ros::param::get(path + "/x_min", pX.first);
-	ros::param::get(path + "/x_max", pX.second);
-	ros::param::get(path + "/y_min", pY.first);
-	ros::param::get(path + "/y_max", pY.second);
-
-    Eigen::Vector2f first(pX.first, pY.first), second(pX.second, pY.second);
-    return Eigen::AlignedBox2f(first, second);
-  }  
-}
-
-void SpeedControl::loadDimensions()
-{
-  InnerDangerZone = loadRect("/homer_navigation/speed_control/inner_danger_zone");
-  InnerDangerZoneFactor;
-  ros::param::get("/homer_navigation/speed_control/inner_danger_zone/speed_factor", InnerDangerZoneFactor);
-  OuterDangerZone = loadRect("/homer_navigation/speed_control/inner_danger_zone");
-  OuterDangerZoneFactor;
-  ros::param::get("/homer_navigation/speed_control/outer_danger_zone/speed_factor", OuterDangerZoneFactor);
-  if(!OuterDangerZone.contains(InnerDangerZone))
-    ROS_WARN_STREAM("InnerDangerZone is not contained in OuterDangerZone");
-}
-
-float SpeedControl::getSpeedFactor(const vector<geometry_msgs::Point>& points, float minVal, float maxVal )
-{
-  float minFactor = 1.0;
-  for (unsigned i = 0; i < points.size(); i++)
-  {
-    Eigen::Vector2f point(points[i].x, points[i].y);
-    if(InnerDangerZone.contains(point))
-    {
-      minFactor = InnerDangerZoneFactor;
-      break;
-    }
-    if(OuterDangerZone.contains(point))
-      minFactor = OuterDangerZoneFactor;
-  }
-  minFactor = sqrt(minFactor);
-  float range = maxVal - minVal;
-  minFactor = minVal + range*minFactor;
-  return minFactor;
-}
-
-float SpeedControl::getMaxMoveDistance(vector<geometry_msgs::Point> points)
-{
-  float minDistance = 4; // distance in m to nearest obstacle in front
-  for (unsigned int i = 0; i < points.size(); i++)
-  {
-      if(points[i].y > ROBOT_MIN_Y && points[i].y < ROBOT_MAX_Y && points[i].x > ROBOT_MAX_X)
-      {
-        float distance = sqrt((points[i].x * points[i].x) + (points[i].y * points[i].y));
-        if (distance < minDistance)
-        {
-          minDistance = distance;
-        }
-      }
-  }
-  float maxMoveDist = minDistance - ROBOT_MAX_X;
-  if (maxMoveDist < 0) {
-    maxMoveDist = 0.0;
-  }
-  return maxMoveDist;
-}
-
-float SpeedControl::getMaxMoveDistance(std::vector< Eigen::Vector3d >* kinectData, float minObstacleHeight, float minObstacleFromRobotDistance, float maxObstacleFromRobotDistance)
-{
-  // Check for obstacles in Kinect image: Look for closest point
-
-  float minDistance = 4; // distance to nearest obstacle in front
-
-  for(int i=0;i<kinectData->size();++i)
-  {
-    Eigen::Vector2d p = Eigen::Vector2d(kinectData->at(i).x(), kinectData->at(i).y());
-    if(!std::isnan(p.x()))
-    {
-      // Filter point cloud
-        if(p.x() > minObstacleFromRobotDistance && p.x() < maxObstacleFromRobotDistance && kinectData->at(i).z() > minObstacleHeight)
-      {
-        // Check for collisions outside of robot
-        if(p.y() > ROBOT_MIN_Y && p.y() < ROBOT_MAX_Y && p.x() > ROBOT_MAX_X)
-        {
-          float distance = sqrt((p.x() * p.x()) + (p.y() * p.y()));
-          if (distance < minDistance)
-          {
-            minDistance = distance;
-          }
-        }
-      }
-    }
-  }
-
-  float maxMoveDist = minDistance - ROBOT_MAX_X;
-  if (maxMoveDist < 0) {
-    maxMoveDist = 0.0;
-  }
-  return maxMoveDist;
-}
-
-float SpeedControl::getTurnSpeedFactor( float speedFactor, float turnAngle, float minVal, float maxVal )
-{
-  //turn faster for larger angles
-  float angleDependentFactor = sqrt( fabs(turnAngle) / M_PI );
-  angleDependentFactor = minVal + angleDependentFactor*(maxVal-minVal);
-  return sqrt( speedFactor * angleDependentFactor );
-}
-
-float SpeedControl::getMinTurnAngle(std::vector<geometry_msgs::Point> laserData, float minAngle, float maxAngle, float minDistance, float maxDistance)
-{
-    float turn_factor = 1.0;
-    for (unsigned int i = 0; i < laserData.size(); i++)
-    {
-        if(laserData[i].y > ROBOT_MIN_Y && laserData[i].y < ROBOT_MAX_Y && laserData[i].x > ROBOT_MAX_X)
-        {
-          float distance = sqrt((laserData[i].x * laserData[i].x) + (laserData[i].y * laserData[i].y));
-          if (distance < minDistance + ROBOT_MAX_X)
-          {
-            turn_factor = 0.0;
-          }
-          else if(distance > maxDistance + ROBOT_MAX_X)
-          {
-              turn_factor = 1.0;
-          }
-          else
-          {
-              turn_factor = (distance - minDistance)/maxDistance;
-          }
-        }
-    }
-    float range = maxAngle - minAngle;
-    return minAngle + turn_factor * range;
-}
-
-SpeedControl::SpeedControl() {
-}
-
-SpeedControl::~SpeedControl() {
-}
-
diff --git a/homer_nav_libs/src/SpeedControl/SpeedControl.h b/homer_nav_libs/src/SpeedControl/SpeedControl.h
deleted file mode 100644
index 7bef0e9a..00000000
--- a/homer_nav_libs/src/SpeedControl/SpeedControl.h
+++ /dev/null
@@ -1,71 +0,0 @@
-#ifndef SPEEDCONTROL_H
-#define SPEEDCONTROL_H  
-
-#include <vector>
-#include <Eigen/Geometry>
-#include <geometry_msgs/Point.h>
-
-/** 
- * @class SpeedControl
- * @author Malte Knauf, Stephan Wirth
- * @brief Class for computing a speed factor with respect to a given laser measurement.
- */
-class SpeedControl {
-    
-  public:
-
-    /**
-     * @brief Loads robot and safety zone dimensions config values
-     */
-    static void loadDimensions();
-
-    /**
-     * Calculates the speed factor for the robot. If a measured obstacle lies in the "danger zone"
-     * that is defined in SpeedControl.cpp, the speed factor will be below maxVal. The nearer the obstacle,
-     * the smaller the speed factor.
-     * @param laserData Laser measurement
-     * @param minVal,maxVal range of return values
-     * @return Speed factor, value between minVal and maxVal. The higher the speed factor, the safer is it to drive fast.
-     */
-    static float getSpeedFactor(const std::vector<geometry_msgs::Point>& points, float minVal=0.2, float maxVal=1.0);
-
-    /**
-     * Calculates the maximum distance the robot can move without touching an obstacle.
-     * @param laserPoints Current laser measurement transformed to (valid) points in map frame
-     * @param laserConf The configuration of the LRF that took the measurement
-     * @return maximum distance (m) the robot can move based on the given laserscan.
-     */
-    static float getMaxMoveDistance(std::vector<geometry_msgs::Point> laserData);
-
-    static float getMaxMoveDistance(std::vector< Eigen::Vector3d >* kinectData, float minObstacleHeight, float minObstacleFromRobotDistance, float maxObstacleFromRobotDistance);
-
-    /// @return if the angle is larger, the turn speed factor will be higher
-    static float getTurnSpeedFactor( float speedFactor, float turnAngle, float minVal, float maxVal );
-
-    /**
-     * Calculates the minimum angle between the robot's orientation and the next waypoint which is necessary
-     * to trigger a rotation instead of a straight line
-     * @brief getMinTurnAngle
-     * @param laserData
-     * @param minAngle
-     * @param maxAngle
-     * @return
-     */
-    static float getMinTurnAngle(std::vector<geometry_msgs::Point> laserData, float minAngle, float maxAngle,
-                                                                              float minDistance, float maxDistance);
-
-  private:
-
-    /** 
-     * Constructor is empty and private because this class will never be instanciated.
-     */
-    SpeedControl();
-    
-    /**
-     * Destructor is empty.
-     */
-    ~SpeedControl();
-
-};
-#endif
-
diff --git a/homer_navigation/README.md b/homer_navigation/README.md
deleted file mode 100644
index 01fa1271..00000000
--- a/homer_navigation/README.md
+++ /dev/null
@@ -1,76 +0,0 @@
-# homer_navigation
-
-## Introduction 
-
-Das Package "homer_navigation" mit seiner gleichnamigen Node ist für die Navigation des Roboters zuständig. Es hält stets die aktuelle Karte des Roboters vor, die auf Topic /map empfangen wurde und berechnet anhand von dieser Karte einen Pfad vom Roboter zu einem gegebenen Zielpunkt. Dafür verwendet die Navigation die sogenannte Pfad-Transformation - eine Kombination aus Distanz-Transformation und Hindernistransformation -, in Verbindung mit A-Stern, um einen optimalen Pfad zu finden. Das Verhältnis zwischen Distanz- und Hindernis-Transformation kann über einen Parameter angepasst werden.
-Nach der Pfadberechnung ist das Package außerdem dafür zuständig den Roboter diesen Pfad zum Ziel abfahren zu lassen.
-
-## Topics 
-
-#### Publisher 
-* `/homer_navigation/target_reached (std_msgs/String)`: Wenn der Roboter sein Ziel erreicht hat, wird eine Message über dieses Topic veschickt.
-* `/homer_navigation/target_unreachable (mapnav_msgs/TargetUnreachable)`: Über dieses Topic wird mitgeteilt, wenn der Roboter sein Ziel nicht erreichen kann und die Navigation abgebrochen wurde. Ein Statuscode wird mitgeliefert (siehe Package map_messages).
-* `/homer_navigation/path (nav_msgs/Path)`: Hierüber wird der aktuelle Pfad zur Visualisierung an die GUI geschickt.
-* `/robot_platform/cmd_vel (geometry_msgs/Twist)`: Über dieses Topic werden die aktuellen Fahrbefehle zum Roboter geschickt. 
-* `/ptu/set_pan_tilt (ptu/SetPanTilt)`: Über dieses Topic wird die PTU nach navigation auf  0, 0 gefahren.
-* `/ptu/center_world_point (ptu/CenterWorldPoint)`: Über dieses Topic wird die PTU auf den nächsten Wegpunkt centriert.
-
-#### Subscriber
-* `/map (nav_msgs/OccupancyGrid)`: Die jeweils aktuelle Map wird empfangen, um sie für die Pfadplanung und Hindernisvermeidung während der Navigation zu verwenden.
-* `/pose (geometry_msgs/PoseStamped)`: Die aktuelle Pose des Roboters wird als Startpunkt der Pfadplanung verwendet.
-* `/scan (sensor_msgs/LaserScan)`: Der aktuelle LaserScan wird zur Hindernisvermeidung verwendet.
-* `/front_scan (sensor_msgs/LaserScan)`: Der aktuelle LaserScan wird zur Hindernisvermeidung verwendet.
-* `/homer_navigation/start_navigation (mapnav_msgs/StartNavigation)`: Startet die Pfadplanung und anschließend die Navigation zur mitgelieferten Zielpose.
-* `/move_base_simple/goal (geometry_msgs/PoseStamped)`: Started die Pfadplanung und anschließende Navigation zur Zielpose.
-* `/homer_navigation/stop_navigation (std_msgs/Empty)`: Stoppt die aktuelle Navigation.
-* `/homer_navigation/navigate_to_POI (mapnav_msgs/NavigateToPOI)`: Startet die Pfadplanung und anschließend die Navigation zum POI mit angegebenen Namen. Der entsprechende POI wird anschließend vom map_manager erfragt.
-* `/homer_navigation/unknown_threshold (std_msgs/Int8)`: Über dieses Topic kann der Schwellwert verändert werden, ab dem ein Zellwahrscheinlichkeit als belegt und damit unbefahrbar markiert wird. Standard ist 50 (%).
-* `/homer_navigation/refresh_params (std_msgs/Empty)`: Über dieses Topic lassen sich die Parameter neu auslesen.
-* `/homer_navigation/max_depth_move_distance (std_msgs/Float32)`: Über dieses Topic lässt sich die Hindernissdistance der Tiefendaten übermitteln. 
-
-## Launch Files 
-
-* `homer_navigation.launch:` Startet die Navigation und lädt alle Navigations-Paramter in den Parameterserver.
-
-## Parameter 
-
-
-### homer_navigation
-* `/homer_navigation/safe_path_weight:`               1.2  # factor weight for safer path in relation to shortest path
-* `/homer_navigation/waypoint_sampling_threshold:`    1.5  # factor of how dense the path waypoints are sampled regarding the obstacle_distance of the last or next waypoint 
-* `/homer_navigation/frontier_safeness_factor:`       1.4  # factor of min_allowed_obstacle_distance to an obstacle of a cell which is considered safe
-
-### cost calculation parameters
-* `/homer_navigation/allowed_obstacle_distance/min:`  0.3  # m robot must stay further away than this from obstacles
-* `/homer_navigation/allowed_obstacle_distance/max:`  5.0  # m not used at the moment
-* `/homer_navigation/safe_obstacle_distance/min:`     0.7  # m if possible robot should move further away than this from obstacles
-* `/homer_navigation/safe_obstacle_distance/max:`     1.5  # m further away than this from obstacles doesn't give a lesser cost addition
-
-### collision Avoidance parameters
-* `/homer_navigation/collision_distance:`             0.3  # m distance to obstacle from robotFront in which the obstacle avoidance will be executed
-* `/homer_navigation/collision_distance_near_target:` 0.2  # m distance to obstacle from robotFront where obstacle avoidance won't be executed when near the target
-* `/homer_navigation/backward_collision_distance:`    0.5  # m distance behind robot in which the robot won't back up into while doing collision avoidance 
-* `/homer_navigation/min_y:`                          0.27 # m half robot width for max_move_distance calculation 
-* `/homer_navigation/min_x:`                          0.3  # m distance from base_link to robot front for max_move_distance calculation 
-
-### check path on map update
-* `/homer_navigation/check_path:`                     true # bool toggles if the calculated path will be checked for obstacles while navigating
-* `/homer_navigation/check_path_max_distance:`        2    # m maximal distance from robot position in which the path is being checked for obstacles
-
-### speed parameters
-* `/homer_navigation/min_turn_angle:`                 0.15 # rad values lower than this angle will let the navigation assume reaching the designated position   
-* `/homer_navigation/max_turn_speed:`                 0.6  # rad/s max turn velocity the navigation can send
-* `/homer_navigation/min_turn_speed:`                 0.3  # rad/s min turn speed for Final Turn so the Robot doesn't stop turning
-* `/homer_navigation/max_drive_angle:`                0.6  # rad threshold for driving and turning - if above that value only turn
-
-* `/homer_navigation/max_move_speed:`                 0.4  # m/s   max move speed the navigation can send
-
-### caution factors values near 0 mean high caution values greater values mean less caution
-### if any factor equals 0 the robot can't follow paths !!
-* `/homer_navigation/map_speed_factor:`               1.2  # factor for the max speed calculation of the obstacleDistancemap
-* `/homer_navigation/waypoint_speed_factor:`          1.2  # factor for the max speed calculation with the distance to the next waypoint
-* `/homer_navigation/obstacle_speed_factor:`          1.0  # factor for the max speed calculation with the last laser may movement distance
-
-* `/homer_navigation/callback_error_duration:`        0.3  # s max duration between pose and laser callbacks before error handling is executed
-
-* `/homer_navigation/use_ptu:` 				          false# bool toggles if the ptu is being used to look at the next Waypoint during navigation
diff --git a/homer_navigation/include/homer_navigation/homer_navigation_node.h b/include/homer_navigation/homer_navigation_node.h
similarity index 100%
rename from homer_navigation/include/homer_navigation/homer_navigation_node.h
rename to include/homer_navigation/homer_navigation_node.h
diff --git a/homer_navigation/launch/homer_navigation.launch b/launch/homer_navigation.launch
similarity index 100%
rename from homer_navigation/launch/homer_navigation.launch
rename to launch/homer_navigation.launch
diff --git a/homer_navigation/launch/homer_navigation_pioneer.launch b/launch/homer_navigation_pioneer.launch
similarity index 100%
rename from homer_navigation/launch/homer_navigation_pioneer.launch
rename to launch/homer_navigation_pioneer.launch
diff --git a/homer_navigation/package.xml b/package.xml
similarity index 100%
rename from homer_navigation/package.xml
rename to package.xml
diff --git a/homer_navigation/readme.pdf b/readme.pdf
similarity index 100%
rename from homer_navigation/readme.pdf
rename to readme.pdf
diff --git a/homer_navigation/src/homer_navigation_node.cpp b/src/homer_navigation_node.cpp
similarity index 100%
rename from homer_navigation/src/homer_navigation_node.cpp
rename to src/homer_navigation_node.cpp
-- 
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