Corrected a bug in the wall follow where it didn't follow the wall.
Lots of changes: The motion controller will try to align the robot based on last know angle to walls when lost a wall from wall following (buggy). Implemented logic to do U-turns on open spaces (buggy - we need to add the possibility of moving different lengths). Overal logic works ok, but depends on successful execution of U-turns. Added the option to tune different PIDs in the motion controller via ROS messages (MOTION CONTROLLER NEEDS TO BE TUNED - URGENT!!!)