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Questions
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Introduction
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In this workshop you should set up your localization.

Task: Output the current position of your robot
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Publish the current 2D pose of your robot inside your environment related to the 
spawn point under the topic /current_pose_2d.

.. Task: Localization robustness(kidnapped robot problem)
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.. The kidnapped robot problem commonly refers to a situation where an autonomous robot in operation
.. is carried/moved to an arbitrary location. A good localization system should allow the robot to recover
.. from catastrophic localization failures.

.. Run the complete setup for AMCL localization and manually *pick and place* the robot to a slightly different
.. location (by moving the robot model it in Gazebo). Depending upon the closeness to the actual pose, the robot
.. in RViz should be able to successfully relocalize itself (some scenarios might require a slight nudge using
.. Teleoperation). Repeat for another couple of scenarios with increasing “teleport” distance. This should give
.. you a clearer idea of how the robot uses its map for localization and how robust your current setup is.

.. Feel free to adjust the AMCL parameters to improve/test the setup.

Task: Clean up your systems
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Create launch files to start your quite complex system. Make sure your system is able to localize inside
the environment.