added services

updated client launch

getting closer. I had one minus sign off in the updateBiasing and it was throwing off everything.

publishing filter statistics

added Simulate node

I was forgetting to add the new files. Whoops.

IMM-CT: rational added for noise selections

IMM-CT gains set for the first time. Seemed like it was okay. Time to plot the statistics to see if it was correct

Everything has compiled for the full IMM with polar measurements and debiasing. Have not tested yet.

RHO->RHO_INDEX and THETA->THETA_INDEX, as specified in the GenDefs.h

i just went through an entire initialization and cycling of the IMM process as it gets data from filter_topic. I noticed I had made a lot of errors and just by rubber-duckying my way through it I think I weeded out a lot of possible causes for error. I haven't tried compiling yet, just being safe

added separate noise measurements for xi and eta

just commiting ftfoi

simulate works pretty nicely now. plotting data with Rviz and everything

working on improving simulate node to offer polar and cartesian measurements