bugfixes in turn controller and some debug output for testing
expose two parameters to parameter server
add encoder frequency
using constants from robot.h
calibration on kobuki, add d term, refine stop conditions
IR sensor calibation
speed up computation
fix issues
control z and not y
add controller launch file
Merge pull request #14 from tobiasandersson/master

fix issues
Merge remote-tracking branch 'upstream/master'
add intial w, tuning parameters on robot, bugfixes
make initial w public
use Parameter class
use Parameter class
long range ir sensors added without offset
parameter adjustments
limit max velocity
fixes