To run the assignment use:
roslaunch cse_190_assi_1 solution_python.launch
OR
roslaunch cse_190_assi_1 solution_cpp.launch
(if you have a different package name than cse_190_assi_1 then use that instead)
read_config.py contains a method to read and store the values from the JSON configuration file.
util.py contains basic utility scripts, as well as a script for printing color-coded 2D probability arrays, courtesy of Ethan Chan.