Feature/dynamic map size

homer_mapping/config/homer_mapping.yaml

 /homer_mapping/size: 4                                          # 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
+/homer_mapping/resolution: 0.04                               # m meter per cell
 
 #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/backside_checking: true                          # 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
 
@@ -11,9 +10,9 @@
 
 /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/error_values/translation_error_translating: 1.0 # percent
+/particlefilter/error_values/translation_error_rotating: 0.09    # m per degree
+/particlefilter/error_values/move_jitter_while_turning: 0.05      # m per degree
 
 /particlefilter/hyper_slamfilter/particlefilter_num: 1
 
@@ -24,7 +23,7 @@
 #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
+/particlefilter/max_update_interval: 0.2                         # sec
 
 /selflocalization/scatter_var_xy: 0.1                            # m
 /selflocalization/scatter_var_theta: 0.2                         # radiants