Created node header. Now using ir_sensors node header file to tell if good ir value or not.
Now using pid controllers for aligning and following
Changed so that left wall is 1 and right wall is -1 (like rotation direction) in motor controller
Merged with cleanup. Also fixed a lot of things. Alignment now uses constant w. Wall follow controller is now using the general PID. Tuned the controller more. Fixed do_distance bug.
Fixed distance keeper sign bug