The driver to add noise to the distance measurements is now working. It takes the laser output from rangertolaser, adds normal noise with a scaling factor from the .cfg. Only effects the local planner. Added .cfgs to test it. Discovered an off by 1 error in the art_pot_driver, which resulting in the forward-most facing sensor reading being ignored.
Refactored the controllers to extend a base clase. This made it easier to implement collision detection, which is now recorded and stops a test run. However, a hack is needed to properly reset position2d's stall flag: The robot must be moved before the flag will clear (working on this now).
For pot_driver.py, was able to fix the stall flag problem by checking only when the GO state is active as well as only recording the change to stalled.
Working for the convoy controllers as well.