Basic SLAM implementation

[7ayushgupta]

For this, you need to create a map (I used costmap2d previously), and try to make your bot go about in circles in the simulator. The path should be correctly shown on the map as well.

Then you would have to identify some keypoints in the map (preferably through vision, since you dont have any long range sensor), and try to update your estimate about your position and the target's position using this data.

There's not a lot of intermediate things here, you suddenly go from nothing in localisation to a system which does it.