for different number of robots (less than 5), make changes to multi_mrl.launch and multi_mrl_control.launch.

for more than 5 robots, changes need to be made for the number of urdfs as well as mrl_control.yaml


Testing SLAM packages on ros
1. hector slam (deprecated for catkin)
2. GSLAM

20140225
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1. added SLAM C++ Packages
1)DP-SLAM
2)Grid SLAM
3)iSAM
4)OpenRatsSLAM
5)rgbdSLAM
6)tinySLAM

7)KLD-Sampling
8)People2D 
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2. for depthCloud orientation problem (shown in rivz) using libgazebo_ros_openni_kinect.so, modify gazebo_ros_openni_kinect.cpp following
http://answers.gazebosim.org/question/4266/gazebo-15-libgazebo_openni_kinectso-pointcloud/


20140312
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1. Install Rocon
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1) install rocon according to "http://wiki.ros.org/rocon/Tutorials/hydro/Installation"
2) installed libavahi-client-dev, libavahi-core-dev, as per the package.xml in package zerocon_avahi,navigation
3) install packages zero_conf_avahi_suit, zeroconf_msgs, yujin_maps,kobuki_softapps, kobuki_msgs,robot_pose_publisher
4) install uuid_msgs, then catkin_make

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2. Install multimaster_fkie
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3. Moved "ros_external_pkgs" to workspace "MBot"