Exercise 11, Problem 1

 Initialization of the localiser.

laser cmd="addline startx=-0.9 starty=0.9 endx=0.9 endy=0.9 name='N'"
laser cmd="addline startx=-0.9 starty=-0.9 endx=0.9 endy=-0.9 name='S'"
laser cmd="addline startx=-0.9 starty=-0.9 endx=-0.9 endy=0.9 name='V'"
laser cmd="addline startx=0.9 starty=-0.9 endx=0.9 endy=0.9 name='E'"

laser cmd="setinitpose x=0 y=0 th=0"
laser cmd="setinitcov Cx=0.1 Cy=0.1 Cth=0.1"

laser cmd="localize"

 The localizer is know ready. It will make a new pose estimate each time the command  'localize'  is given.