0.1: Controllers now read from global and local parameter files.

Fixed motor_controller2 to read all its parameters from the local
config file. Had to change some of the variables from static const
to just standard ones because it seems to be impossible to initialise
them by reading from the server.

Wrote some functions in motor_controller2 for generic parameter reading.
Should be moved to a utility directory somewhere globally accessible.
The functions read a parameter from the server, and error if it is not
present.
0.2: Correctly linked to rosutil library
Merge branch 'develop' into parameter_reformat, needs testing

Compiles correctly, but not sure whether everything in the code is correct. From the code in develop, it looks to be.

Conflicts:
	milestone0controller/src/blobfollower.cpp
	motor_controller2/src/motorController2.cpp
0.3: Updated name and library usage of blob follower
Merge branch 'parameter_reformat' into develop
Updated references to rosutil library
Skelleton for wallfollower
fixed some code that was not needed
contiunued on the skelleton
added calibration for sensor 1 for testing
added calibration for sensors 1-4
added an ugly hack
A controller that doesnt follow the wall but seems to give reasonable range of output
Fixed an ungodly bug in saturation logic. Changed some start params.
fixed the launch file
first wallfollower to follow the wall
Calibrated long range sensors, fixed error in sensor and worked on wallfollowr

Had to add a boolean in sensor due to the limiting of all sensors to distance = 30. Also been working on the wallfollower, experimented and added some new values, such as angvel_left and angvel_right. The code in wallfollower.cpp is commented, please see the comments!
Warning gnomes have struck a blow against the calibration
Other things includes the beginning of a state machine for following the wall
turning and marhing controller. Tuned the motorcontroller2 to work with real radius.
Added motor controller 3. It is a turnging + roaming controller
It uses the same Twist message, but if angular.y is not 0.0 then it executes that command only (in degrees).
Then when it chages to 0.0 it will once again be a roaming controller (like motor controller 2)
Code needs to be cleaned up from some commnentes from today