Few more comments

Author: rishabh1b

src/rbiyani_project_5/adventure_slam/src/Localizer.cpp

@@ -65,6 +65,8 @@ void Localizer::estimate()
     first_angle = first_angle * PI / 180;
 
     curr_shift_y += first_distance * std::sin(first_angle);
+    // We don't want to account for forward shift obtained through lines at angles at this margin
+    // since, these are parallel lines in the world and they do not give any idea about the forward shift. 
     if(!(std::abs(first_angle) < 10 * PI/ 180 || std::abs(first_angle) > 170 * PI / 180 ))
        count_y++;
   }

src/rbiyani_project_5/adventure_slam/src/adventure_slam.cpp

@@ -53,8 +53,6 @@ LaserScanProcessor::LaserScanProcessor(ros::NodeHandle n_)
 
 void LaserScanProcessor::laser_callback(const sensor_msgs::LaserScan& scan)
 {
-    std::stringstream ss, ss2, ss3, ss4;
-    std::string s, s2, s3, s4;
 
    // Visual Odom message
     nav_msgs::Odometry result_pose;
@@ -69,8 +67,7 @@ void LaserScanProcessor::laser_callback(const sensor_msgs::LaserScan& scan)
 
     float theta, r; 
     tf::Vector3 v, v_glob, v_glob_vo;
-
-    //double shift_x, shift_y, delta_yaw;     
+   
 
     for (int i = 0; i < ranges.size(); i++ )
     {