Information on Carmen

Has anyone here ever used Carmen (Carnegie Mellon Robot Navigation Toolkit) ? I'm currently trying to use it but i'm having some difficulty obtaining
usable maps with the vasco module. At the university we have a ATRV-jr on wich we mounted a selfmade laserscanner. I had to rewrite only one source file in order to get it working with carmen. The laser is pretty simple (the maximum range is 5 metres) compared to the SICK lasers Carmen intended to use. Because of this the lasers returns a lot of erronous data. For instance when dealing obstacles that are more or less reflective, the obstacle can become invisible at a certain angle.
Can Carmen deal with this sort of errors? It's rather difficult trying to figure that out, simply by looking at the source of Carmen. Especially since the source isn't documented very well. It could very well be that I missed a few important parameters. If anyone here can direct me towards additional documentation on Carmen you can't find on the homepage, I would be very gratefull.
Thanks in advance,
Karel Van Laer
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